Driving assistance method, and driving assistance device and driving assistance system using said method

ABSTRACT

Behavior information input unit receives stop-behavior information about vehicle from automatic-driving control device. Image-and-sound output unit outputs inquiry information for inquiring of an occupant whether a possibility of collision between an obstacle and vehicle is to be excluded from a determination object in automatic-driving control device to notification device, when a distance from one point on a predictive movement route of the obstacle to the obstacle is greater than or equal to a first threshold, and a speed of the obstacle is less than or equal to a second threshold. Operation signal input unit receives a response signal for excluding the collision possibility from the determination object. Command output unit outputs a command to exclude the collision possibility from the determination object to automatic-driving control device.

Cross Reference to Related Applications

This application is a continuation of U.S. patent application Ser. No.16/546,331, filed Aug. 21, 2019, which is a continuation of PCTInternational Pat. Appl. No. PCT/JP2018/006341, filed Feb. 22, 2018,which claims the benefit of foreign priority of Japanese Pat. Appl. No.No. 2017-039752, filed Mar. 2, 2017, Japanese Pat. Appl. No.2017-039753, filed Mar. 2, 2017, Japanese Pat. Appl. No. 2017-039754,filed Mar. 2, 2017, and Japanese Pat. Appl. No. 2017-039755, filed Mar.2, 2017. The entire disclosure of each of the above-identifieddocuments, including the specification, drawings, and claims, isincorporated herein by reference in its entirety.

BACKGROUND 1. Technical Field

The present disclosure relates to a vehicle, a driving assistance methodadopted for the vehicle, a driving assistance device using the drivingassistance method, an automatic-driving control device, a program, and adriving assistance system.

2. Description of the Related Art

In automatic driving of the vehicle, an obstacle of vehicle traveling isdetected, and the vehicle is automatically stooped a predetermineddistance short of the obstacle. A long-distance obstacle detector thatdetects only presence or absence of an obstacle within a long-distancerange and a short-distance obstacle detector that obtains a distance toa detected obstacle within a short-distance range are provided in orderto optimally control automatic stop of the vehicle traveling at middleand high speed (for example, see Unexamined Japanese Patent PublicationNo. 10-16734).

SUMMARY

An object of the present disclosure is to provide a technique oftraveling according to a situation even if an obstacle exists.

According to one aspect of the present disclosure, a driving systemincludes a detector, an automatic-driving control device, a notificationdevice, and a driving assistance device. The detector detects at leastone of a speed of an obstacle around a vehicle and a distance betweenthe vehicle and the obstacle. The automatic-driving control devicecalculates a possibility of collision between the obstacle detected bythe detector and the vehicle, controls automatic driving of the vehicleusing the calculated collision possibility as a determination parameter,and stops the vehicle when the collision possibility is greater than apredetermined value. The notification device makes a notification of atleast information about control of the automatic-driving control device.The driving assistance device assists the notification. The drivingassistance device outputs first inquiry information to the notificationdevice for inquiring of an occupant whether the possibility of thecollision between the obstacle and the vehicle is to be excluded fromthe determination parameter, when a distance from a first point to theobstacle is greater than or equal to a first threshold, and the speed ofthe obstacle detected by the detector is less than or equal to a secondthreshold, in a case that stop-behavior information about the vehicle isinput from the automatic-driving control device. The first point is apoint at which a predictive movement route of the vehicle intersectswith a predictive movement route of the obstacle based on the detectionby the detector. The driving assistance device outputs a first commandto exclude the possibility of the collision between the obstacle and thevehicle from the determination parameter to the automatic-drivingcontrol device, when a response signal of a response operation ofexclusion performed by the occupant is input with respect to the firstinquiry information of which the notification device makes thenotification.

Another aspect of the present disclosure provides a driving assistancedevice. The driving assistance device includes a detector, anautomatic-driving control device, and a notification device, and thedriving assistance device is installed in a vehicle. The detectordetects at least one of a speed of an obstacle around the vehicle and adistance between the vehicle and the obstacle. The automatic-drivingcontrol device calculates a possibility of collision between theobstacle detected by the detector and the vehicle, controls automaticdriving of the vehicle using the calculated collision possibility as adetermination parameter, and stops the vehicle when the collisionpossibility is greater than a predetermined value. The notificationdevice makes a notification of at least information about control of theautomatic-driving control device. The driving assistance device outputsfirst inquiry information to the notification device for inquiring of anoccupant of the vehicle whether the possibility of the collision betweenthe obstacle and the vehicle is to be excluded from the determinationparameter, when a distance from a first point to the obstacle is greaterthan or equal to a first threshold, and the speed of the obstacledetected by the detector is less than or equal to a second threshold, ina case that stop-behavior information about the vehicle is input fromthe automatic-driving control device. The first point being a point atwhich a predictive movement route of the vehicle intersects with apredictive movement route of the obstacle based on the detection by thedetector. The driving assistance device outputs a first command toexclude the possibility of the collision between the obstacle and thevehicle from the determination parameter to the automatic-drivingcontrol device, when a response signal of a response operation ofexclusion performed by the occupant is input with respect to the firstinquiry information of which the notification device makes thenotification.

Still another aspect of the present disclosure provides a drivingassistance method. The driving assistance method is one in a drivingassistance device including a detector, an automatic-driving controldevice, and a notification device, the driving assistance device to beinstalled in a vehicle. The detector detects at least one of a speed ofan obstacle around the vehicle and a distance between the vehicle andthe obstacle. The automatic-driving control device calculates apossibility of collision between the obstacle detected by the detectorand the vehicle, controls automatic driving of the vehicle using thecalculated collision possibility as a determination parameter, and stopsthe vehicle when the collision possibility is greater than apredetermined value. The notification device makes a notification of atleast information about control of the automatic-driving control device.The driving assistance method includes: a step of outputting firstinquiry information to the notification device for inquiring of anoccupant of the vehicle whether the possibility of the collision betweenthe obstacle and the vehicle is to be excluded from the determinationparameter, when a distance from a first point at which a predictivemovement route of the vehicle and a predictive movement route of theobstacle based on the detection by the detector intersect to theobstacle is greater than or equal to a first threshold, and the speed ofthe obstacle detected by the detector is less than or equal to a secondthreshold, in a case that stop-behavior information about the vehicle isinput from the automatic-driving control device; and

a step of outputting a first command to exclude the possibility of thecollision between the obstacle and the vehicle from the determinationparameter to the automatic-driving control device when a response signalof a response operation of exclusion performed by the occupant is inputwith respect to the first inquiry information of which the notificationdevice makes the notification.

Any desired combinations of the above-described components andmodifications of the features of the present disclosure in devices,systems, methods, programs, (non-transitory) recording media containingthe programs, vehicles on which the present devices are mounted, orother entities are still effective as other aspects of the presentdisclosure.

In the present disclosure, the vehicle can travel according to thesituation even if the obstacle exists.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 is a diagram illustrating a configuration of a vehicle accordingto a first exemplary embodiment.

FIG. 2 is a diagram schematically illustrating an interior of thevehicle in FIG. 1.

FIG. 3 is a view illustrating a processing outline of the firstexemplary embodiment.

FIG. 4 is a diagram illustrating a configuration of a controller in FIG.1.

FIG. 5 is a view illustrating an image displayed on a notificationdevice in FIG. 2.

FIG. 6 is a view illustrating a processing outline performed by aninquiry processing unit in FIG. 4.

FIG. 7 is a view illustrating another processing outline performed bythe inquiry processing unit in FIG. 4.

FIG. 8 is a view illustrating still another processing outline performedby the inquiry processing unit in FIG. 4.

FIG. 9 is a flowchart illustrating an instruction procedure by acontroller in FIG. 4.

FIG. 10 is a flowchart illustrating another instruction procedure by thecontroller in FIG. 4.

FIG. 11 is a view illustrating a processing outline according to asecond exemplary embodiment.

FIG. 12 is a view illustrating an image displayed on a notificationdevice according to the second exemplary embodiment.

FIG. 13 is a view illustrating another processing outline of acontroller of the second exemplary embodiment.

FIG. 14 is a view illustrating another processing outline according tothe second exemplary embodiment.

FIG. 15 is a view illustrating a processing outline according to a thirdexemplary embodiment.

FIG. 16 is a view illustrating an image displayed on a notificationdevice of the third exemplary embodiment.

FIG. 17 is a flowchart illustrating an instruction procedure by acontroller of the third exemplary embodiment.

FIG. 18 is a flowchart illustrating another instruction procedure by thecontroller of the third exemplary embodiment.

FIG. 19 is a view illustrating a processing outline according to afourth exemplary embodiment.

FIG. 20 is a view illustrating an image displayed on a notificationdevice of the fourth exemplary embodiment.

FIG. 21 is a view illustrating another processing outline of acontroller of the fourth exemplary embodiment.

FIG. 22 is a view illustrating a processing outline according to a fifthexemplary embodiment.

FIG. 23 is a view illustrating an image displayed on a notificationdevice of the fifth exemplary embodiment.

DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS

Prior to describing exemplary embodiments of the present disclosure, aproblem of a conventional device is briefly described. The automaticdriving vehicle automatically stops by detecting another vehicle or apedestrian during right and left turns or merging. At this point,sometimes a driver of the other vehicle or the pedestrian gives a way tothe automatic driving vehicle. Sometimes another vehicle fails andinevitably stops. However, even if the driver of the other vehicle orthe pedestrian gives the way to the automatic driving vehicle or theother vehicle fails and stops, the automatic driving vehicle thatautomatically stops cannot start traveling because the automatic drivingvehicle determines there is a possibility of colliding with a peripheralobstacle including the other vehicle or the pedestrian when detectingthat an obstacle such as the other vehicle or the pedestrian existswithin a predetermined distance of the automatic driving vehicle.

First Exemplary Embodiment

An outline will be described before the specific description of thepresent disclosure. A first exemplary embodiment relates to a vehiclethat calculates a possibility of colliding with a detected obstacle andperforms automatic driving using the calculated collision possibility asa determination object. In particular, the first exemplary embodimentrelates to a device (hereinafter, also referred to as a “drivingassistance device”) that controls a human machine interface (HMI) thatexchanges information about a driving behavior of the vehicle with anoccupant (for example, a driver) of the vehicle. The “driving behavior”includes an operating state such as steering and braking duringtraveling and stopping of the vehicle, or a control content relating tothe automatic driving control. Examples of the driving behavior includeconstant speed traveling, acceleration, deceleration, temporary stop,stop, lane change, course change, right or left turn, parking, and thelike. In addition, examples of the driving behavior may include cruising(running while keeping a lane and maintaining a vehicle speed), lanekeeping, following a preceding vehicle, stop and go during following,lane change, passing, response to a merging vehicle, crossover(interchange) including entry to and exit from an expressway, merging,response to a construction zone, response to an emergency vehicle,response to an interrupting vehicle, response to lanes exclusive toright and left turns, interaction with a pedestrian and a bicycle,avoidance of an obstacle other than a vehicle, response to a sign,response to restrictions of right and left turns and a U-turn, responseto lane restriction, response to one-way traffic, response to a trafficsign, response to an intersection and a roundabout, and the like.

In the driving behavior such as the interruption and the right and leftturns, in the case that the obstacle such as a peripheral travelingvehicle (peripheral vehicle) and a person exists near the vehicle, anautomatic-driving control device calculates the possibility of thecollision with the obstacle, and stops the vehicle when the collisionpossibility exceeds a predetermined value. When a state in which thecollision possibility exceeds the predetermined value continues, theautomatic-driving control device does not cause the vehicle to start.Even in such situation, sometimes the obstacle gives the way to thevehicle. This is done by eye contact between the occupant or the personof the peripheral vehicle and the occupant of the vehicle in the casethat the vehicle does not perform the automatic driving. However,because the automatic driving is performed in the vehicle, unless thevehicle recognizes the obstacle gives the way to the vehicle even if theobstacle gives the way to the vehicle, the vehicle does not start in thestate in which the collision possibility exceeds the predeterminedvalue. On the other hand, in order to smooth traffic, the vehicle shouldstart in the case that the obstacle gives the way to the vehicle.

The first exemplary embodiment focuses on the “interruption” as thedriving behavior. For example, the interruption occurs in a scene inwhich a merging road is connected to a merged road at a merging point.When the vehicle travelling on the merging road is in front of themerging point, the automatic-driving control device calculates thepossibility of collision with a peripheral vehicle that travels on themerged road and is to be interrupted by the vehicle. When the collisionpossibility exceeds a predetermined value, the automatic-driving controldevice stops the vehicle in front of the merging point to the mergedroad. In this situation, if the peripheral vehicle also stops in frontof the merging point to give the way to the vehicle, the interruption tothe peripheral vehicle is possible.

In order to enable the interruption in such a situation, the drivingassistance device of the first exemplary embodiment performs thefollowing processing. The driving assistance device is informed by theautomatic-driving control device about the driving behavior of the“stop” that occurs during the driving behavior of the “interruption”.The driving assistance device specifies an intersection of the mergedroad where the merged road intersects with the merging road from mapinformation, and derives a distance between the intersection and theperipheral vehicle as a determination distance. The driving assistancedevice acquires a speed of the peripheral vehicle. When thedetermination distance is greater than or equal to a first threshold,and the speed is less than or equal to a second threshold, the drivingassistance device inquires of the occupant whether the possibility ofthe collision between the peripheral vehicle and the vehicle is to beexcluded from the determination object in the automatic-driving controldevice. For example, the image for inquiry is generated and displayed ona monitor in the vehicle. When receiving a response operation to excludethe collision possibility from the occupant with respect to the inquiry,the driving assistance device generates a command to exclude thepossibility of the collision between the peripheral vehicle and thevehicle from the determination object, and transmits the command to theautomatic-driving control device. When receiving the command from thedriving assistance device, the automatic-driving control device excludesthe possibility of the collision between the peripheral vehicle and thevehicle from the determination object, and starts the vehicle when thecollision possibility is less than a predetermined value.

Hereinafter, exemplary embodiments of the present disclosure will bedescribed in detail with reference to the drawings. Each of theexemplary embodiments described below is only illustrative, and does notlimit the present disclosure.

FIG. 1 illustrates a configuration of vehicle 100 of the first exemplaryembodiment, and particularly illustrates a configuration relating to anautomatic driving vehicle. Vehicle 100 can travel in an automaticdriving mode, and includes notification device 2, input device 4,wireless device 8, driving operating unit 10, detector 20,automatic-driving control device 30, and driving assistance device 40.The devices in FIG. 1 may be connected by a dedicated line or wiredcommunication such as a Controller Area Network (CAN). The devices maybe connected by wired communication or wireless communication such as auniversal serial bus (USB), Ethernet (registered trademark), Wi-Fi(registered trademark), and Bluetooth (registered trademark).

Notification device 2 notifies the occupant of information abouttraveling of vehicle 100. For example, notification device 2 is a carnavigation system, a head-up display, or a center display installed inthe vehicle. Notification device 2 may be a display that displaysinformation, like a luminous body such as a light emitting diode (LED)installed around a steering wheel, a pillar, a dashboard, a meter panel,or the like. Notification device 2 may be a speaker that convertsinformation into sound to notify the occupant, or a vibrator provided ata position (for example, a seat of the occupant or a steering wheel)where the occupant can sense the vibration. Notification device 2 may bea combination of these elements.

Input device 4 is a user interface device that receives operation inputperformed by the occupant. For example, input device 4 is a controllersuch as a touch panel, a lever, a button, a switch, a joystick, and avolume, a sensor such as a camera that recognizes a gesture in anoncontact manner, a sensor such as a microphone that recognizes sound,and a combination thereof, and input device 4 receives information aboutthe automatic driving of own vehicle input by the occupant. Input device4 may receive an operation signal for switching between the automaticdriving and the manual driving. Input device 4 outputs the receivedinformation as the operation signal to driving assistance device 40.

FIG. 2 schematically illustrates an interior of vehicle 100.Notification device 2 may be head-up display (HUD) 2 a or center display2 b. Input device 4 may be first operating unit 4 a provided in steeringwheel 11, second operating unit 4 b provided between a driver seat and apassenger seat, or third operating unit 4 c that is a sensor, such as acamera, which recognizes a gesture. Notification device 2 and inputdevice 4 may be integrated with each other. For example, notificationdevice 2 and input device 4 may be mounted as a touch panel display.Speaker 6 that presents sound information about the automatic driving tothe occupant may further be provided in vehicle 100. In this case,driving assistance device 40 may display information about the automaticdriving on notification device 2, and in addition to it or instead ofit, output sound indicating the information about the automatic driving(for example, information about operation of the vehicle in associationwith acceleration or lane change of the vehicle performed by theautomatic-driving control device or information indicating whether acollision possibility to be described later is to be excluded as adetermination parameter) from speaker 6. The description returns to FIG.1.

Wireless device 8 is compatible with a mobile phone communicationsystem, a wireless metropolitan area network (WMAN), or the like, andconducts wireless communication with a data server, an infrastructure, aperipheral vehicle, a pedestrian, or the like. Driving operating unit 10includes steering wheel 11, brake pedal 12, accelerator pedal 13, andindicator switch 14. Steering wheel 11, brake pedal 12, acceleratorpedal 13, and indicator switch 14 can electronically be controlled by asteering wheel electronic control unit (ECU), a brake ECU, an engine ECUand a motor ECU, and an indicator controller, respectively. In theautomatic driving mode, the steering wheel ECU, the brake ECU, theengine ECU, and the motor ECU drive corresponding actuators according tocontrol signals supplied from automatic-driving control device 30. Theindicator controller turns on or off an indicator lamp according to thecontrol signal supplied from automatic-driving control device 30.

Detector 20 detects a surrounding situation and a traveling state ofvehicle 100. For example, detector 20 detects a speed of vehicle 100, arelative speed of a preceding vehicle with respect to vehicle 100, adistance between vehicle 100 and the preceding vehicle, a relative speedof a vehicle traveling in an adjacent lane with respect to vehicle 100,a distance between vehicle 100 and the vehicle traveling in the adjacentlane, and position information about vehicle 100. Detector 20 outputsdetected various pieces of information (hereinafter, referred to as“detection information”) to automatic-driving control device 30.Detector 20 may output the detection information to driving assistancedevice 40 through automatic-driving control device 30, or directlyoutput the detection information to driving assistance device 40.Detector 20 includes position information acquisition unit 21, sensor22, speed information acquisition unit 23, and map informationacquisition unit 24.

Position information acquisition unit 21 acquires a current position ofvehicle 100 from a global navigation satellite system (GNSS) receiver.Sensor 22 is a general term for various sensors that detect an outsidesituation of vehicle 100 and the state of vehicle 100. For example, acamera, a millimeter-wave radar, a light detection and ranging or laserimaging detection and ranging (LIDAR) sensor, a sonar, a temperaturesensor, an atmospheric pressure sensor, a humidity sensor, and anilluminance sensor are mounted as the sensor that detects the outsidesituation of the vehicle. The outside situation of the vehicle includesa situation of a road where the own vehicle travels, which includes laneinformation, an environment including weather, a surrounding situationof the own vehicle, and a peripheral vehicle (such as a peripheralvehicle traveling in the adjacent lane) present nearby. Any informationabout the outside of the vehicle that can be detected by sensor 22 maybe used. For example, an acceleration sensor, a gyroscope sensor, ageomagnetism sensor, and an inclination sensor are mounted as sensor 22that detects the state of vehicle 100.

Speed information acquisition unit 23 acquires a current speed ofvehicle 100 from a vehicle speed sensor. Map information acquisitionunit 24 acquires map information about a region around the currentposition of vehicle 100 from a map database. The map database may berecorded in a recording medium in vehicle 100, or downloaded from a mapserver through a network at a time of use. The map information includesinformation about a road and an intersection.

Automatic-driving control device 30 is an automatic-driving controllerhaving an automatic driving control function, and determines a behaviorof vehicle 100 in automatic driving. Automatic-driving control device 30includes controller 31, storage 32, and input-and-output (I/O) unit 33.A configuration of controller 31 can be implemented by cooperationbetween a hardware resource and a software resource or only the hardwareresource. A processor, a read only memory (ROM), a random access memory(RAM), and other large scale integrations (LSIs) can be used as thehardware resource, and programs such as an operating system, anapplication, and firmware can be used as the software resource. Storage32 includes a nonvolatile recording medium such as a flash memory. I/Ounit 33 performs communication control according to variouscommunication formats. For example, I/O unit 33 outputs informationabout the automatic driving to driving assistance device 40, andreceives a control command from driving assistance device 40. I/O unit33 receives the detection information from detector 20.

Controller 31 applies a control command input from driving assistancedevice 40 and various pieces of information collected from detector 20or various ECUs to an automatic driving algorithm, and calculates acontrol value in order to control an automatic control object such as anaccelerator throttle opening and a steering wheel angle of vehicle 100.The control of stopping vehicle 100 will be described as an example.Controller 31 calculates time-to-collision (TTC) with the peripheralvehicle as the collision possibility as follows based on the detectioninformation received from detector 20 in the case that the detectedobstacle is the peripheral vehicle.

TTC=D/(V2−V1)

In the above equation, D indicates a vehicle following distance betweenvehicle 100 and the peripheral vehicle, V1 indicates a speed of vehicle100, and V2 indicates a speed of the peripheral vehicle. A decrease inTTC indicates that time to the collision is shortened, and correspondsto an increase in the collision possibility.

On the other hand, controller 31 calculates the collision possibilityaccording to whether a person exists in an area (hereinafter, referredto as a “monitoring area”) that changes according to the drivingbehavior in an area formed around vehicle 100 based on the detectioninformation received from detector 20 in the case that the obstacle is aperson. In this case, the collision possibility decreases in the casethat the person does not exist, and the collision possibility increasesin the case that the person exists. Irrespective of the obstacle to beeither the peripheral vehicle or the person, in the case that thecollision possibility is greater than the predetermined value,controller 31 decides the stop of vehicle 100 as automatic drivingcontrol of vehicle 100, and calculates a control value in order to stopvehicle 100. That is, controller 31 performs the automatic drivingcontrol of vehicle 100 using the collision possibility as thedetermination object (determination parameter). The predetermined valuemay be changed according to whether the obstacle is a peripheral vehicleor a person. For a plurality of obstacles, controller 31 decides thestop of vehicle 100 when the possibility of collision with at least oneobstacle is greater than the predetermined value. In the first exemplaryembodiment, the monitoring area is simplified, and is illustrated bymonitoring area 124 (including a predetermined width) surrounding theintersection at which the own vehicle is scheduled to travel asillustrated in FIG. 11. In a case of monitoring area 124 that changesaccording to the driving behavior, for example, monitoring area 124 maybe limited to a portion that includes a scheduled traveling route of theown vehicle, a currently traveling road of the own vehicle, and apost-left-turn traveling road, in the case that the own vehicle performsthe left turn at the intersection. Controller 31 transmits thecalculated control value to the ECU or the controller of each controlobject. In the first exemplary embodiment, controller 31 transmits thecalculated control value to the steering wheel ECU, the brake ECU, theengine ECU, and the indicator controller. For an electrically drivenvehicle or a hybrid car, controller 31 transmits the control value tothe motor ECU instead of or in addition to the engine ECU.

Driving assistance device 40 is an HMI controller that executes aninterface function between vehicle 100 and the occupant, and includescontroller 41, storage unit 42, and I/O unit 43. Controller 41 performsvarious pieces of data processing such as HMI control. Controller 41 canbe implemented by cooperation between the hardware resource and thesoftware resource or only the hardware resource. A processor, a ROM, aRAM, and other LSIs can be used as the hardware resource, and programssuch as an operating system, applications, and firmware can be used asthe software resource.

Storage 42 is a storage area where data that is referred to or updatedby controller 41 is stored. Storage 42 is constructed with a nonvolatilerecording medium such as a flash memory. I/O unit 43 performs variouskinds of communication control according to various kinds ofcommunication formats.

I/O unit 43 includes operation signal input unit 50, image-and-soundoutput unit 51, detection information input unit 52, command interface(IF) 53, and communication IF 56.

Operation signal input unit 50 receives an operation signal generated byoperation executed on input device 4 by the occupant or a user outsidethe vehicle from input device 4, and outputs the operation signal tocontroller 41. Image-and-sound output unit 51 outputs image data or asound message, which is generated by controller 41, to notificationdevice 2, and causes notification device 2 to display the image data orthe sound message. Detection information input unit 52 receives thedetection information, which is a result of detection processing bydetector 20 and indicates a current surrounding situation and atraveling state of vehicle 100, from detector 20, and outputs thereceived detection information to controller 41.

Command IF 53 performs interface processing with automatic-drivingcontrol device 30, and includes behavior information input unit 54 andcommand output unit 55. Behavior information input unit 54 receivesinformation about the automatic driving of vehicle 100, the informationbeing transmitted from automatic-driving control device 30, and outputsthe received information to controller 41. Command output unit 55receives a control command instructing a mode of the automatic drivingto automatic-driving control device 30 from controller 41, and transmitsthe control command to automatic-driving control device 30.

Communication IF 56 performs interface processing with wireless device8. Communication IF 56 transmits the data, which is output fromcontroller 41, to wireless device 8, and wireless device 8 transmits thedata to an external device. Communication IF 56 receives datatransmitted from the external device, the data being transferred bywireless device 8, and outputs the data to controller 41.

In this case, automatic-driving control device 30 and driving assistancedevice 40 are configured as individual devices. As a modification,automatic-driving control device 30 and driving assistance device 40 maybe integrated into one controller as indicated by a broken line inFIG. 1. In other words, one automatic-driving control device may haveboth the functions of automatic-driving control device 30 and drivingassistance device 40 in FIG. 1. Further, automatic-driving controldevice 30 may be combined with notification device 2, input device 4,and driving assistance device 40 to be configured as a drivingassistance system.

The processing of automatic-driving control device 30 will be describedbefore the description of the processing with respect to the drivingbehavior of the “interruption” performed by driving assistance device 40FIG. 3 illustrates a processing outline. A part (a) of FIG. 3illustrates an interruption behavior to occur in the future, theinterruption behavior being specified by controller 31 ofautomatic-driving control device 30. Merging road 200 is a road on whichvehicle 100 travels, and vehicle 100 travels upward. On the other hand,merged road 202 is a road to which merging road 200 is merged, and firstperipheral vehicle 102 a and second peripheral vehicle 102 b travelleftward. At this point, first peripheral vehicle 102 a travels behindsecond peripheral vehicle 102 b, and travels on merged road 202 beforethe point at which merging road 200 merges. First route 110 a on whichvehicle 100 is scheduled to travel is set to go upward on merging road200, and to turn to the left on merged road 202. For this reason,interruption by vehicle 100 will occur in front of first peripheralvehicle 102 a. Controller 31 specifies an interruption behavior asillustrated in the part (a) of FIG. 3 based on the detection informationfrom detector 20. Any known technique only needs to be used for thespecification, and the description will be omitted.

Controller 31 calculates TTC for first peripheral vehicle 102 a as thecollision possibility based on vehicle following distance 122 betweenvehicle 100 and first peripheral vehicle 102 a, the speed of vehicle100, and the speed of first peripheral vehicle 102 a. In the case thatthe calculated collision possibility is greater than the predeterminedvalue, controller 31 decides a stop behavior. When deciding the stopbehavior, controller 31 performs the control of stopping vehicle 100. Asa result, vehicle 100 travelling on merging road 200 stops in front ofthe merging to merged road 202. Controller 31 transmits informationindicating the stop behavior to behavior information input unit 54through I/O unit 33. At this point, or before the transmission of theinformation, controller 31 transmits information indicating interruptionbehavior as illustrated in the part (a) of FIG. 3 to behaviorinformation input unit 54. Parts (b) to (d) of FIG. 3 will be describedlater.

FIG. 4 illustrates a configuration of controller 41. Controller 41includes determinator 76, inquiry processing unit 78, and commandprocessing unit 80. Behavior information input unit 54 receives theinformation indicating the interruption behavior as illustrated in thepart (a) of FIG. 3 from controller 31. Behavior information input unit54 also receives the information indicating the stop behavior fromcontroller 31. Behavior information input unit 54 outputs the receivedpieces of information to controller 41. In the case that behaviorinformation input unit 54 is informed of the stop behavior of the ownvehicle, determinator 76 of controller 41 starts the followingprocessing. Determinator 76 grasps the interruption behavior asillustrated in the part (a) of FIG. 3 based on the informationindicating the interruption behavior. With no use of the informationindicating the interruption behavior, determinator 76 may grasp theinterruption behavior based on the detection information similarly tocontroller 31.

A part (b) of FIG. 3 illustrates the interruption behavior grasped bydeterminator 76. The part (b) of FIG. 3 illustrates second route 110 b(predictive movement route) on which first peripheral vehicle 102 a ispredicted to travel. Second route 110 b is generated based on mapinformation included in the detection information and positioninformation about first peripheral vehicle 102 a, and previously decidedas going straight to the left on merged road 202. Determinator 76acquires intersection termination point 112 with respect to merging road200 on merged road 202 based on the map information included in thedetection information. Intersection termination point 112 is a pointthat first peripheral vehicle 102 a that travels on merged road 202finally reaches in a portion in which merged road 202 and merging road200 overlap each other in the case that merging road 200 extends so asto pierce merged road 202. For this reason, intersection terminationpoint 112 is set to one point (first point) on second route 110 b. Theone point may have a predetermined area, and the same holds true for thefollowing exemplary embodiments.

Determinator 76 derives a distance from intersection termination point112 to first peripheral vehicle 102 a as distance for determination 120.Determinator 76 acquires a speed of first peripheral vehicle 102 a.Determinator 76 compares the speed of first peripheral vehicle 102 a toa second threshold while comparing distance for determination 120 to afirst threshold. When distance for determination 120 is shorter than thefirst threshold, or when the speed of first peripheral vehicle 102 a ishigher than the second threshold, determinator 76 determines that it isa “first state”. The first state corresponds to the case that firstperipheral vehicle 102 a travels while not giving the way to vehicle100. On the other hand, when distance for determination 120 is greaterthan or equal to the first threshold, and the speed of first peripheralvehicle 102 a is less than or equal to the second threshold,determinator 76 determines that it is a “second state”. The second statecorresponds to the case that first peripheral vehicle 102 a gives theway to vehicle 100 while stopping or traveling at a speed less than orequal to the second threshold.

As illustrated in a part (c) of FIG. 3, a rearmost portion of secondperipheral vehicle 102 b is sometimes closer to first peripheral vehicle102 a than intersection termination point 112. In this case,determinator 76 may derive the distance from the rearmost portion ofsecond peripheral vehicle 102 b to first peripheral vehicle 102 a asdistance for determination 120. Determinator 76 may derive the distancebetween intersection termination point 112 and first peripheral vehicle102 a as distance for determination 120. The pieces of processingsubsequent to this processing are similar to those described above, andthus the description will be omitted. The part (d) of FIG. 3 will bedescribed later. The description returns to FIG. 4. Determinator 76outputs the determination result to inquiry processing unit 78.Determinator 76 also outputs another piece of information to inquiryprocessing unit 78.

Inquiry processing unit 78 receives the determination result fromdeterminator 76. In the case that the determination result indicates thefirst state, inquiry processing unit 78 does not perform the processing.On the other hand, in the case that the determination result indicatesthe second state, inquiry processing unit 78 performs the processing ofinquiring of the occupant whether the possibility of the collisionbetween first peripheral vehicle 102 a and vehicle 100 is to be excludedfrom the determination object in automatic-driving control device 30.For this reason, it is said that the case that the determination resultindicates the second state satisfies an exclusion condition. The inquiryprocessing will specifically be described below with reference to FIG.5. FIG. 5 illustrates the image displayed on notification device 2. Apart (a) of FIG. 5 illustrates the image that is generated by inquiryprocessing unit 78 and displayed on center display 2 b throughimage-and-sound output unit 51. For this reason, it is said thatimage-and-sound output unit 51 is an inquiry output unit.

Inquiry processing unit 78 generates the image indicating a currentsituation in which the interruption behavior occurs, namely, a situationin the part (a) of FIG. 3 (first inquiry information) based on anotherpiece of information received from determinator 76. A known techniquemay be used to generate the image. Own vehicle icon 150 corresponding tovehicle 100, first peripheral vehicle icon 152 a corresponding to firstperipheral vehicle 102 a, and second peripheral vehicle icon 152 bcorresponding to second peripheral vehicle 102 b are illustrated in FIG.5. Inquiry processing unit 78 may superpose on the image a message toinquire of the occupant whether the possibility of the collision betweenfirst peripheral vehicle 102 a and vehicle 100 is to be excluded fromthe determination object of automatic-driving control device 30. Aninquiry aspect is not limited to this, but another example will bedescribed later. Parts (b) and (c) of FIG. 5 will be described later.The description returns to FIG. 4.

The occupant checks the image displayed on center display 2 b, receiveseye contact of mutual concessions from an occupant of first peripheralvehicle 102 a, and recognizes the situation in which the interruptioncan be performed. In the case that the occupant wants to perform theinterruption, the occupant performs an action of a finger so as to sweepfirst peripheral vehicle icon 152 a of center display 2 b that is atouch panel. The action is not limited to this. The touch panel detectsthe action, and operation signal input unit 50 in FIG. 1 receives theaction. The action corresponds to a response signal for excluding thepossibility of the collision between first peripheral vehicle 102 a andvehicle 100 from the determination object with respect to the inquiryfrom image-and-sound output unit 51. When receiving the response signal,operation signal input unit 50 notifies inquiry processing unit 78 ofthe reception of the response signal. When receiving the notificationfrom operation signal input unit 50, inquiry processing unit 78instructs command processing unit 80 to generate a command. On the otherhand, inquiry processing unit 78 ends the processing in the case thatoperation signal input unit 50 does not receive the response signal overa period of time since operation signal input unit 50 outputs theinquiry.

In the case that inquiry processing unit 78 instructs command processingunit 80 to generate the command, command processing unit 80 generatesthe command (first command) to exclude the possibility of the collisionbetween first peripheral vehicle 102 a and vehicle 100 from thedetermination object. Command output unit 55 outputs the commandgenerated by command processing unit 80 to automatic-driving controldevice 30. When receiving the command, controller 31 ofautomatic-driving control device 30 calculates the collision possibilityas in the past. The calculation of the collision possibility bycontroller 31, namely, the calculation of the TTC is as described above,so that the description will be omitted. However, controller 31 excludesthe possibility of the collision between first peripheral vehicle 102 aand vehicle 100 from the determination object, and decides the drivingbehavior. The part (d) of FIG. 3 illustrates the action of vehicle 100in the case that the possibility of the collision between firstperipheral vehicle 102 a and vehicle 100 is excluded from thedetermination object. In the part (d) of FIG. 3, vehicle 100 travels onmerged road 202 by performing the interruption behavior with respect tofirst peripheral vehicle 102 a. The description returns to FIG. 4.

In the case that controller 31 of automatic-driving control device 30excludes the possibility of the collision between first peripheralvehicle 102 a and vehicle 100 from the determination object to performthe automatic driving, controller 31 outputs the performance of thecommand or the continuous performance of the command as the behaviorinformation to driving assistance device 40. Behavior information inputunit 54 of driving assistance device 40 receives the behaviorinformation. When behavior information input unit 54 receives thebehavior information, command processing unit 80 generates the imagecausing the occupant to recognize that the possibility of the collisionbetween first peripheral vehicle 102 a and vehicle 100 is excluded fromthe determination object in automatic-driving control device 30. Thepart (b) of FIG. 5 illustrates the image displayed on center display 2 bin the case that the possibility of the collision between firstperipheral vehicle 102 a and vehicle 100 is excluded from thedetermination object in automatic-driving control device 30.

As illustrated in the part (b) of FIG. 5, first peripheral vehicle icon152 a changes from the solid line display to the dotted line display.The part (c) of FIG. 5 will be described later. The description returnsto FIG. 4.

After command output unit 55 outputs the command, determinator 76continues the processing to continue the determination of the firststate or the second state until the interruption behavior in the part(d) of FIG. 3 is completed. In this case, determinator 76 outputs thedetermination result to command processing unit 80.

Command processing unit 80 receives the determination result fromdeterminator 76. In the case that the determination result indicates thefirst state, command processing unit 80 generates the command toinstruct automatic-driving control device 30 to include the possibilityof the collision between first peripheral vehicle 102 a and vehicle 100in the determination object. This corresponds to the situation in whichfirst peripheral vehicle 102 a recognized to give the way to vehicle 100starts travelling. For this reason, it is said that the case that thedetermination result indicates the first state satisfies a determinationobject condition. Command output unit 55 outputs the command generatedby command processing unit 80 to automatic-driving control device 30.When receiving the command, controller 31 of automatic-driving controldevice 30 includes the possibility of the collision between firstperipheral vehicle 102 a and vehicle 100 in the determination object.Consequently, when the collision possibility exceeds the predeterminedvalue, controller 31 stops vehicle 100.

In the case that controller 31 stops vehicle 100 to notify commandprocessing unit 80 of the stop through behavior information input unit54, command processing unit 80 generates the image notifying theoccupant of the suspension of the interruption. The part (c) of FIG. 5illustrates the image displayed on center display 2 b in the case thatthe interruption is suspended. As illustrated in the part (c) of FIG. 5,first peripheral vehicle icon 152 a changes from a dotted line displayto a solid line display, and a message is displayed.

Another example of the inquiry and the response in inquiry processingunit 78 will be described below together with the detail of a humaninterface. FIG. 6 illustrates a processing outline performed by inquiryprocessing unit 78. In FIG. 6, the display performed by center display 2b and the response operation in the touch panel are performed in thesame manner as before.

A part (a) of FIG. 6 illustrates the image displayed by inquiryprocessing unit 78. As described above, own vehicle icon 150, firstperipheral vehicle icon 152 a, and second peripheral vehicle icon 152 bare displayed, and the message is also displayed. A route on which ownvehicle icon 150 should travel for the interruption behavior isdisplayed by an arrow. This corresponds to first route 110 a. Theoccupant recognizes the situation in which the interruption can beperformed by checking the image displayed on center display 2 b. Whenwanting to perform the interruption in front of first peripheral vehicle102 a corresponding to first peripheral vehicle icon 152 a, the occupantselects first peripheral vehicle icon 152 a by the finger.

A part (b) of FIG. 6 illustrates processing subsequent to the processingin the part (a) of FIG. 6. After the selection of first peripheralvehicle icon 152 a, the occupant moves a finger so as to sweep firstperipheral vehicle icon 152 a. As described above, this corresponds tothe input of the response operation. The occupant is notified of theinput of the response operation by change in display color of firstperipheral vehicle icon 152 a. A part (c) of FIG. 6 illustratesprocessing subsequent to the processing in the part (b) of FIG. 6. Afterthe input of the response operation, in the case that the possibility ofthe collision with first peripheral vehicle 102 a corresponding to firstperipheral vehicle icon 152 a is excluded from the determination objectin automatic-driving control device 30, first peripheral vehicle icon152 a changes from the solid line display to the dotted line display inthe image displayed on center display 2 b.

FIG. 7 is a view illustrating another processing outline performed byinquiry processing unit 78. In FIG. 7, the display is performed byhead-up display 2 a, and the response operation is performed by thegesture. A part (a) of FIG. 7 illustrates an image displayed by inquiryprocessing unit 78. The image is illustrated similarly to the part (a)of FIG. 6. The occupant recognizes the situation in which theinterruption can be performed by checking the image displayed on head-updisplay 2 a. When wanting to perform the interruption in front of firstperipheral vehicle 102 a corresponding to first peripheral vehicle icon152 a, the occupant shades third operating unit 4 c (not illustrated)with occupant's hand.

A part (b) of FIG. 7 illustrates processing subsequent to the processingin the part (a) of FIG. 7. After shading third operating unit 4 c withthe hand, the occupant moves the hand so as to sweep first peripheralvehicle icon 152 a. Third operating unit 4 c detects the gesture of thesweep of the hand. Any known technique only needs to be used for thedetection of the gesture, and the description will be omitted. Thiscorresponds to the input of the response operation. The occupant isnotified of the input of the response operation by change in displaycolor of first peripheral vehicle icon 152 a. A part (c) of FIG. 7illustrates processing subsequent to the processing in the part (b) ofFIG. 7. After the input of the response operation, in the case that thepossibility of the collision with first peripheral vehicle 102 acorresponding to first peripheral vehicle icon 152 a is excluded fromthe determination object in automatic-driving control device 30, firstperipheral vehicle icon 152 a changes from the solid line display to thedotted line display in the image displayed on head-up display 2 a.

FIG. 8 is a view illustrating still another processing outline performedby inquiry processing unit 78. In FIG. 8, the display is performed byhead-up display 2 a, and the response operation is performed by pressingdown of a button. A part (a) of FIG. 8 illustrates the image displayedby inquiry processing unit 78. The image is illustrated similarly to thepart (a) of FIG. 7. When wanting to perform the interruption in front offirst peripheral vehicle 102 a corresponding to first peripheral vehicleicon 152 a, the occupant puts a finger on or lightly presses firstoperating unit 4 a.

A part (b) of FIG. 8 illustrates processing subsequent to the processingin the part (a) of FIG. 8. After putting the finger on first operatingunit 4 a, the occupant presses down or strongly depresses firstoperating unit 4 a. Step in the part (a) of FIG. 8 may be omitted. Thiscorresponds to the input of the response operation. The occupant isnotified of the input of the response operation by change in displaycolor of first peripheral vehicle icon 152 a. A part (c) of FIG. 8illustrates processing subsequent to the processing in the part (b) ofFIG. 8. After the input of the response operation, in the case that thepossibility of the collision with first peripheral vehicle 102 acorresponding to first peripheral vehicle icon 152 a is excluded fromthe determination object in automatic-driving control device 30, firstperipheral vehicle icon 152 a changes from the solid line display to thedotted line display in the image displayed on head-up display 2 a.

Action of driving assistance device 40 having the above configurationwill be described. FIG. 9 is a flowchart illustrating an instructionprocedure by controller 41. Behavior information input unit 54 receivesthe stop behavior in the driving behavior being a processing object(S100). Determinator 76 acquires distance for determination 120 and thespeed with respect to the obstacle (S102). When distance fordetermination 120 is greater than or equal to the first threshold (Y inS104), and the speed is less than or equal to the second threshold (Y in5106), inquiry processing unit 78 inquires whether the collisionpossibility is to be excluded from the determination object throughimage-and-sound output unit 51 (S108). When inquiry processing unit 78receives the response signal of the exclusion through operation signalinput unit 50 (Y in S110), command processing unit 80 outputs anexclusion command through command output unit 55 (S112). Subsequently,command processing unit 80 changes the display (S114). When distance fordetermination 120 is less than the first threshold (N in S104), when thespeed is greater than the second threshold (N in S106), or when inquiryprocessing unit 78 does not receive the response signal of the exclusionthrough operation signal input unit 50 (N in S110), the processing isended.

FIG. 10 is a flowchart illustrating another instruction procedure bycontroller 41. FIG. 10 illustrates the processing after commandprocessing unit 80 outputs the exclusion command through command outputunit 55 and automatic-driving control device 30 excludes the possibilityof the collision with the obstacle from the determination object in step112 of FIG. 9. When automatic-driving control device 30 currentlycontinues the driving behavior being a processing object (Y in S150),determinator 76 acquires distance for determination 120 and the speedwith respect to the obstacle (S152). When distance for determination 120is greater than or equal to the first threshold (Y in S154), and thespeed is less than or equal to the second threshold (Y in S156), theprocessing is ended. When distance for determination 120 is less thanfirst threshold (N in S154), or when the speed is greater than thesecond threshold (N in S156), command processing unit 80 outputs thecommand to include the collision possibility in the determination objectthrough command output unit 55 (S158). Command processing unit 80changes the display (S160). When automatic-driving control device 30does not continue the driving behavior being a processing object (N inS150), the processing is ended.

In the first exemplary embodiment, when the distance to the peripheralvehicle is greater than or equal to the first threshold, and the speedof the peripheral vehicle is less than or equal to the second threshold,whether the possibility of the collision with the peripheral vehicle isto be excluded from the determination object is inquired. Thus, a willof the occupant can be checked, information acquired by visualobservation of the occupant can be reflected in the driving behavior,and the driving can more smoothly be performed. When the response signalfor excluding the possibility of the collision with the peripheralvehicle from the determination object is obtained in response to theinquiry, the instruction to exclude the possibility of the collisionwith the peripheral vehicle from the determination object is issued, sothat the vehicle can interrupt the peripheral vehicle that gives the wayto the vehicle. When the distance to the peripheral vehicle is greaterthan or equal to the first threshold, and the speed of the peripheralvehicle is less than or equal to the second threshold, whether thepossibility of the collision with the peripheral vehicle is to beexcluded from the determination object is inquired, so that the eyecontact can be performed irrespective of the automatic driving. Theinstruction that the possibility of the collision with the peripheralvehicle is to be excluded from the determination object is issued by thecombination of the inquiry and the response signal, so that the vehiclecan travel according to the situation even if the peripheral vehicleexists during the interruption.

The determination is continued even after the possibility of thecollision with the peripheral vehicle is excluded from the determinationobject, and the possibility of the collision with the peripheral vehicleis included in the determination object when the distance to theperipheral vehicle falls below the first threshold (less than the firstthreshold), or when the speed of the peripheral vehicle exceeds thesecond threshold. Thus, the occurrence of the collision with theperipheral vehicle can be prevented. The inquiry to the occupant is notmade in including the possibility of the collision with the peripheralvehicle in the determination object, so that a period in which thepossibility of the collision with the peripheral vehicle is included inthe determination object can be shortened. The determination for thefirst threshold and the second threshold may be less than, less than orequal to, greater than or equal to, or greater than the first thresholdand the second threshold according to the value.

Second Exemplary Embodiment

A second exemplary embodiment relates to a driving assistance device tobe installed in the vehicle that performs the automatic driving based onthe detected obstacle similarly to the first exemplary embodiment. Thesecond exemplary embodiment focuses on the “left turn” as the drivingbehavior. For example, the left turn occurs at the intersection. Thevehicle travels on a first road, and the automatic-driving controldevice calculates the possibility of the collision with a person whoexists on a pedestrian crossing, which is provided for crossing a secondroad after the left turn, in front of the intersection intersecting thesecond road. When the collision possibility is greater than apredetermined value, the automatic-driving control device stops thevehicle in front of the intersection. In such a situation, the vehiclecan turn to the left in the case that a person who tries to walk thepedestrian crossing stops in front of the pedestrian crossing to givethe way to the vehicle.

The driving assistance device of the second exemplary embodimentperforms the following processing in order to enable the left turn insuch a situation. The driving assistance device is informed byautomatic-driving control device of the driving behavior of the “stop”that occurs during the driving behavior of the “left turn”. The drivingassistance device specifies a crossing termination point of the secondroad from the map information, and derives the distance between thecrossing termination point and the person as the determination distance.The driving assistance device acquires the speed of the person. When thedetermination distance is greater than or equal to a first threshold,and the speed is less than or equal to a second threshold, the drivingassistance device generates an image in order to inquire of the occupantwhether the possibility of the collision between the person and thevehicle is to be excluded from the determination object in theautomatic-driving control device, and displays the image on a monitor inthe vehicle. When receiving a response operation to exclude thecollision possibility from the occupant with respect to the display, thedriving assistance device generates a command to exclude the possibilityof the collision between the person and the vehicle from thedetermination object, and transmits the command to the automatic-drivingcontrol device. When receiving the command from the driving assistancedevice, the automatic-driving control device excludes the possibility ofthe collision between the person and the vehicle from the determinationobject, and starts the own vehicle when the collision possibility isless than the predetermined value. Vehicle 100 of the second exemplaryembodiment is of a type similar to that in FIGS. 1 and 2, and controller41 is of a type similar to that in FIG. 4. A difference from the firstexemplary embodiment will mainly be described below.

The processing of automatic-driving control device 30 will be describedbefore the description of the processing with respect to the drivingbehavior of the “left turn” performed by driving assistance device 40.FIG. 11 illustrates a processing outline. A part (a) of FIG. 11illustrates the left-turn behavior to occur in the future, the left-turnbehavior being specified by controller 31 of automatic-driving controldevice 30. First road 210 has a running direction in a verticaldirection, second road 212 has a running direction in a horizontaldirection, and first road 210 and second road 212 intersect at theintersection. First route 110 a on which vehicle 100 is scheduled totravel is set to go upward on first road 210, to turn to the left at theintersection, and to enter second road 212. Person 104 exists on thepedestrian crossing provided for crossing second road 212 after the leftturn. It is assumed that person 104 is scheduled to cross the pedestriancrossing of second road 212. Controller 31 specifies a left-turnbehavior as illustrated in the part (a) of FIG. 11 based on thedetection information from detector 20. Any known technique only needsto be used for the specification, and the description will be omitted.

Controller 31 sets monitoring area 124 surrounding the intersection towhich vehicle 100 comes close based on the map information and theposition information about vehicle 100. At this point, monitoring area124 has a circular shape. However, monitoring area 124 is not limited tothe circular shape. Controller 31 determines whether person 104 isincluded in monitoring area 124 as the collision possibility based onmonitoring area 124 and the position information about person 104. Forexample, controller 31 calculates the collision possibility greater thanthe predetermined value when person 104 is included in monitoring area124, and controller 31 calculates the collision possibility less than orequal to the predetermined value when person 104 is not included inmonitoring area 124. In the case that the calculated collisionpossibility is greater than the predetermined value, controller 31decides the stop behavior. When deciding the stop behavior, controller31 performs the control of stopping vehicle 100. As a result, vehicle100 travelling on first road 210 stops in front of the intersection.Controller 31 transmits information indicating the stop behavior tobehavior information input unit 54 through I/O unit 33. At this point,or before the transmission of the information, controller 31 transmitsinformation indicating the left-turn behavior as illustrated in the part(a) of FIG. 11 to behavior information input unit 54. Parts (b) and (c)of FIG. 11 will be described later.

Behavior information input unit 54 in FIG. 4 receives the informationindicating the left-turn behavior as illustrated in the part (a) of FIG.11 from controller 31. Behavior information input unit 54 also receivesthe information indicating the stop behavior from controller 31.Behavior information input unit 54 outputs the received pieces ofinformation to controller 41. In the case that behavior informationinput unit 54 is informed of the stop behavior of the own vehicle,determinator 76 of controller 41 starts the following processing.Determinator 76 grasps the left-turn behavior as illustrated in the part(a) of FIG. 11 based on the information indicating the left-turnbehavior. As described above, with no use of the information indicatingthe left-turn behavior, determinator 76 may grasp the left-turn behaviorbased on the detection information similarly to controller 31.

The part (b) of FIG. 11 illustrates the left-turn behavior grasped bydeterminator 76. The part (b) of FIG. 11 illustrates second route 110 bon which person 104 is predicted to walk. Second route 110 b isgenerated based on the map information included in the detectioninformation and the position information about person 104, andpreviously decided as crossing the pedestrian crossing to cross secondroad 212. Determinator 76 acquires crossing termination point 114 ofsecond road 212 based on the map information included in the detectioninformation. Crossing termination point 114 is a point at which person104 walks on the pedestrian crossing from a position where person 104exists and ends the crossing. For this reason, crossing terminationpoint 114 is set to one point on second route 110 b.

Determinator 76 derives the distance from crossing termination point 114to person 104 as distance for determination 120. Determinator 76acquires the speed of person 104. When distance for determination 120 isshorter than the first threshold, or when the speed of person 104 ishigher than the second threshold, determinator 76 determines that it isthe “first state”. The first state corresponds to the case that person104 walks while not giving the way to vehicle 100. On the other hand,when distance for determination 120 is greater than or equal to thefirst threshold, and the speed of person 104 is less than or equal tothe second threshold, determinator 76 determines that it is the “secondstate”. The second state corresponds to the case that person 104 givesthe way to vehicle 100 while stopping or walking at a speed less than orequal to a fourth threshold. The part (c) of FIG. 11 will be describedlater. The description returns to FIG. 4. Determinator 76 outputs thedetermination result to inquiry processing unit 78. Determinator 76 alsooutputs another piece of information to inquiry processing unit 78.

In the case that the determination result from determinator 76 indicatesthe second state, inquiry processing unit 78 performs the processing ofinquiring of the occupant whether the possibility of the collisionbetween person 104 and vehicle 100 is to be excluded from thedetermination object in automatic-driving control device 30. The inquiryprocessing will specifically be described below with reference to FIG.12. FIG. 12 illustrates the image displayed on notification device 2. Apart (a) of FIG. 12 illustrates the image that is generated by inquiryprocessing unit 78 and displayed on head-up display 2 a throughimage-and-sound output unit 51.

Inquiry processing unit 78 generates the image indicating the currentsituation in which the left-turn behavior occurs, namely, the situationillustrated in the part (a) of FIG. 11 based on another piece ofinformation received from determinator 76. In this case, own vehicleicon 150 corresponding to vehicle 100, person icon 154 corresponding toperson 104, and rectangular obstacle icon 156 surrounding person icon154 are illustrated. Inquiry processing unit 78 may superpose on theimage a message to inquire of the occupant whether the possibility ofthe collision between person 104 and vehicle 100 is to be excluded fromthe determination object of automatic-driving control device 30. Variousaspects may be used as the inquiry aspect. Parts (b) and (c) of FIG. 12will be described later. The description returns to FIG. 4.

The occupant checks the image displayed on head-up display 2 a, receivesthe will of mutual concessions from the person, and recognizes thesituation in which the left turn can be performed. When wanting toperform the left turn, the occupant presses down first operating unit 4a. The action is not limited to this. Operation signal input unit 50 inFIG. 1 receives this action. The action corresponds to a response signalfor excluding the possibility of the collision between person 104 andvehicle 100 from the determination object with respect to the inquiryfrom image-and-sound output unit 51. When receiving the response signal,operation signal input unit 50 notifies inquiry processing unit 78 ofthe reception of the response signal. When receiving the notification,inquiry processing unit 78 instructs command processing unit 80 togenerate a command.

In the case that inquiry processing unit 78 instructs command processingunit80 to generate the command, command processing unit 80 generates thecommand to exclude the possibility of the collision between person 104and vehicle 100 from the determination object. Command output unit 55outputs the command generated by command processing unit 80 toautomatic-driving control device 30. When receiving the command,controller 31 of automatic-driving control device 30 calculates thecollision possibility as in the past. However, controller 31 excludesthe possibility of the collision between person 104 and vehicle 100 fromthe determination object, and decides the driving behavior. The part (c)of FIG. 11 illustrates the action of vehicle 100 in the case that thepossibility of the collision between person 104 and vehicle 100 isexcluded from the determination object. In the part (c) of FIG. 11,vehicle 100 turns to the left from first road 210 and travels on secondroad 212. The description returns to FIG. 4.

In the case that controller 31 of automatic-driving control device 30excludes the possibility of the collision between person 104 and vehicle100 from the determination object to perform the automatic driving,controller 31 outputs the performance of the command or the continuousperformance of the command as the behavior information to drivingassistance device 40. When behavior information input unit 54 receivesthe behavior information, command processing unit 80 generates the imagecausing the occupant to recognize that the possibility of the collisionbetween person 104 and vehicle 100 is excluded from the determinationobject in automatic-driving control device 30. The part (b) of FIG. 12illustrates the image displayed on head-up display 2 a in the case thatthe possibility of the collision between person 104 and vehicle 100 isexcluded from the determination object in automatic-driving controldevice 30. As illustrated in the part (b) of FIG. 12, obstacle icon 156surrounding person icon 154 changes from the solid line display to thedotted line display. The part (c) of FIG. 12 will be described later.The description returns to FIG. 4.

After command output unit 55 outputs the command, determinator 76continues the determination of the first state or the second state untilthe left-turn behavior in the part (c) of FIG. 11 is completed. In thecase that the determination result indicates the first state, commandprocessing unit 80 generates the command to instruct automatic-drivingcontrol device 30 to include the possibility of the collision betweenperson 104 and vehicle 100 in the determination object. This correspondsto the situation in which person 104 recognized to give the way tovehicle 100 starts walking. Command output unit 55 outputs the commandgenerated by command processing unit 80 to automatic-driving controldevice 30. When receiving the command, controller 31 ofautomatic-driving control device 30 includes the possibility of thecollision between person 104 and vehicle 100 in the determinationobject. Consequently, when the collision possibility exceeds thepredetermined value, controller 31 stops vehicle 100.

In the case that controller 31 stops vehicle 100 to notify commandprocessing unit 80 of the stop through behavior information input unit54, command processing unit 80 generates the image notifying theoccupant of the suspension of the left turn. The part (c) of FIG. 12illustrates the image displayed on head-up display 2 a in the case thatthe left turn is suspended. As illustrated in the part (c) of FIG. 12,obstacle icon 156 surrounding person icon 154 changes from the dottedline display to the solid line display, and the message is displayed.

The case that person 104 may move downward is described above asillustrated in the part (b) of FIG. 11. The case that person 104 maymove in a reverse direction will be described below. FIG. 13 illustratesanother processing outline performed by controller 41. A part (a) ofFIG. 13 illustrates the left-turn behavior to occur in the future, theleft-turn behavior being specified by controller 31 of automatic-drivingcontrol device 30. Person 104 existing at the pedestrian crossingprovided for crossing second road 212 is on the opposite side comparedto the part (a) of FIG. 11 with respect to second road 212. Even in thiscase, controller 31 determines whether person 104 is included inmonitoring area 124 as the collision possibility.

The part (b) of FIG. 13 illustrates second route 110 b on which person104 is predicted to walk. The direction of second route 110 b isopposite to the direction in the part (b) of FIG. 11. For this reason,crossing termination point 114 is disposed at a position different fromthe position in the part (b) of FIG. 11, specifically on the oppositeside with respect to second road 212. Determinator 76 derives thedistance from crossing termination point 114 to person 104 as distancefor determination 120. The pieces of processing subsequent to thisprocessing are similar to those described above, and thus thedescription will be omitted.

The processing in the case of the combination of the part (b) of FIG. 11and the part (b) of FIG. 13 will be described below. FIG. 14 illustratesanother processing outline according to the second exemplary embodiment.In a part (a) of FIG. 14, first person 104 a and second person 104 bexist with the pedestrian crossing interposed therebetween. First person104 a moves downward along first person route 111 a similarly to thepart (b) of FIG. 11, and second person 104 b moves upward along secondperson route 111 b similarly to the part (b) of FIG. 13. At this point,first person route 111 a and second person route 111 b correspond tosecond route 110 b mentioned earlier. In this case, the processingdescribed above for first person 104 a and the processing describedabove for second person 104 b are separately performed.

A part (b) of FIG. 14 illustrates another image displayed onnotification device 2. The part (b) of FIG. 14 illustrates the imagedisplayed on center display 2 b in the situation similar to that in thepart (c) of FIG. 12. Own vehicle icon 150 corresponding to vehicle 100,first person icon 154 a corresponding to first person 104 a, and firstobstacle icon 156 a surrounding first person icon 154 a are illustrated.Second person icon 154 b corresponding to second person 104 b andrectangular second obstacle icon 156 b surrounding second person icon154 b are also illustrated. At this point, because the possibility ofthe collision with first person 104 a is excluded from the determinationobject in automatic-driving control device 30, first obstacle icon 156 ais displayed by the dotted line. On the other hand, for example, in thecase that second person 104 b invades into an intersection area from anend on the opposite side while first person 104 a is excluded, becausethe possibility of the collision with second person 104 b is included inthe determination object in automatic-driving control device 30, secondobstacle icon 156 b is displayed by the solid line. In this case,because the possibility of the collision with second person 104 b isgreater than the predetermined value, vehicle 100 does not turn to theleft, but stops.

In the second exemplary embodiment, when the distance to the person isgreater than or equal to the first threshold, and the speed of theperson is less than or equal to the second threshold, whether thepossibility of the collision with the person is to be excluded from thedetermination object is inquired, so that the will of the occupant canbe checked. When the response signal for excluding the possibility ofthe collision with the person from the determination object is obtainedin response to the inquiry, the instruction to exclude the possibilityof the collision with the person from the determination object isissued, so that the vehicle can turn to the left in advance of theperson that gives the way to the vehicle. When the distance to theperson is greater than or equal to the first threshold, and the speed ofthe person is less than or equal to the second threshold, whether thepossibility of the collision with the person is to be excluded from thedetermination object is inquired, so that the eye contact can beperformed irrespective of the automatic driving. The instruction toexclude the possibility of the collision with the person from thedetermination object is issued by the combination of the inquiry and theresponse signal, so that the vehicle can travel according to thesituation even if the person exists during the left turn.

The determination is continued even after the possibility of thecollision with the person is excluded from the determination object, andwhen the distance to the person falls below the first threshold (lessthan the first threshold), or when the speed of the person exceeds thesecond threshold, the possibility of the collision with the person isincluded in the determination object, so that the occurrence of thecollision with the person can be prevented. The inquiry to the occupantis not made in including the possibility of the collision with theperson in the determination object, so that a period in which thepossibility of the collision with the person is included in thedetermination object can be shortened. The determination for the firstthreshold and the second threshold may be less than, less than or equalto, greater than or equal to, or greater than the first threshold andthe second threshold according to the value.

Third Exemplary Embodiment

A third exemplary embodiment relates to a driving assistance device tobe installed in the vehicle that performs the automatic driving based onthe detected obstacle similarly to the first and second exemplaryembodiments. Similarly to the second exemplary embodiment, the thirdexemplary embodiment also focuses on the “left turn” as the drivingbehavior. At this point, in particular it is assumed that a plurality ofpersons exist on the pedestrian crossing provided for crossing thesecond road that the vehicle should enter from the first road by theleft turn. In such a situation, in the case that the inquiry and theresponse with respect to each person is performed as in the secondexemplary embodiment, a period until all the pieces of processing areended is lengthened. When the period is lengthened, there is apossibility that the person who stops to give the way to the vehiclestarts to move.

For this reason, in the case that a plurality of persons determined tobe in the second state exist, the driving assistance device of the thirdexemplary embodiment collectively perform the inquiry whether thepossibility of the collision with the plurality of persons is to beexcluded from the determination object in the automatic-driving controldevice. When the occupant collectively performs the response operationwith respect to the collective inquiry, the driving assistance devicecauses the automatic-driving control device to collectively exclude thepossibility of the collision with the plurality of persons from thedetermination object. That is, the one-time inquiry and the one-timeresponse operation are performed in order to exclude the possibility ofthe collision with the plurality of persons from the determinationobject in the automatic-driving control device. Vehicle 100 of the thirdexemplary embodiment is of a type similar to that in FIGS. 1 and 2, andcontroller 41 is of a type similar to that in FIG. 4. Differences fromthe above description will be mainly described below.

FIG. 15 illustrates a processing outline, and illustrates the left-turnbehavior to occur in the future, the left-turn behavior being specifiedby controller 31 of automatic-driving control device 30 and controller41 of driving assistance device 40. First road 210, second road 212, andvehicle 100 are indicated similarly to the part (a) of FIG. 11. Firstperson 104 a, second person 104 b, and third person 104 c exist on thepedestrian crossing provided for crossing second road 212. First person104 a, second person 104 b, and third person 104 c are scheduled tocross second road 212. The number of persons 104 is not limited tothree. Controller 31 calculates the collision possibility with respectto each of first person 104 a, second person 104 b, and third person 104c. When all the collision possibilities are greater than thepredetermined value, controller 31 decides the stop behavior.

Behavior information input unit 54 in FIG. 4 receives the informationindicating the left-turn behavior as illustrated in FIG. 15 fromcontroller 31. Behavior information input unit 54 also receives theinformation indicating the stop behavior from controller 31. Behaviorinformation input unit 54 outputs the received pieces of information tocontroller 41. Determinator 76 of controller 41 derives distance fordetermination 120 and acquires the speed with respect to each of theplurality of persons 104 a to 104 c. When distance for determination 120with respect to each of the plurality of persons 104 a to 104 c isgreater than or equal to the first threshold, and the speed of each ofthe plurality of persons 104 a to 104 c is less than or equal to thesecond threshold, determinator 76 determines that all the plurality ofpersons 104 a to 104 c are in the second state.

In the case that determinator 76 determines that all the plurality ofpersons 104 a to 104 c are in the second state, inquiry processing unit78 performs the processing of collectively inquiring of the occupantwhether the possibility of the collision with the plurality of persons104 a to 104 c is to be excluded from the determination object inautomatic-driving control device 30. The inquiry processing willspecifically be described below with reference to FIG. 16. FIG. 16illustrates the image displayed on notification device 2. A part (a) ofFIG. 16 illustrates the image that is generated by inquiry processingunit 78 and displayed on head-up display 2 a through image-and-soundoutput unit 51.

Inquiry processing unit 78 generates the image (second inquiryinformation) indicating a current situation in which the left-turnbehavior occurs, namely, a situation in FIG. 15 based on another pieceof information received from determinator 76. Own vehicle icon 150corresponding to vehicle 100, first person icon 154 a corresponding tofirst person 104 a, second person icon 154 b corresponding to secondperson 104 b, and third person icon 154 c corresponding to third person104 c are illustrated in FIG. 16. Rectangular obstacle icon 156collectively surrounding first person icon 154 a to third person icon154 c is also illustrated. Various aspects may be used as the inquiryaspect. Parts (b) and (c) of FIG. 16 will be described later. Thedescription returns to FIG. 4.

The occupant checks the image displayed on head-up display 2 a, receivesthe will of mutual concessions from all the persons or a person who isleader-like of the plurality of persons, and recognizes the situation inwhich the left turn can be performed. When wanting to perform the leftturn, the occupant presses down first operating unit 4 a. The action isnot limited to this. Operation signal input unit 50 in FIG. 1 receivesthis action. The action corresponds to a response signal forcollectively excluding the possibility of the collision with theplurality of persons 104 a to 104 c from the determination object withrespect to the collective inquiry from image-and-sound output unit 51.When receiving the collective response signal, operation signal inputunit 50 notifies inquiry processing unit 78 of the reception of thecollective response signal. When receiving the notification of thecollective reception, inquiry processing unit 78 instructs commandprocessing unit 80 to generate the command.

In the case that inquiry processing unit 78 instructs command processingunit 80 to generate the command, command processing unit 80 generatesthe command (second command) to exclude the possibility of the collisionwith the plurality of persons 104 a to 104 c from the determinationobject. Command output unit 55 outputs the command generated by commandprocessing unit 80 to automatic-driving control device 30. Whenreceiving the command, controller 31 of automatic-driving control device30 excludes the possibility of the collision with the plurality ofpersons 104 a to 104 c from the determination object.

In the case that controller 31 of automatic-driving control device 30excludes the possibility of the collision with the plurality of persons104 a to 104 c from the determination object to perform the automaticdriving, controller 31 outputs the performance of the command or thecontinuous performance of the command as the behavior information todriving assistance device 40. When behavior information input unit 54receives the behavior information, command processing unit 80 generatesthe image causing the occupant to recognize that the possibility of thecollision with the plurality of persons 104 a to 104 c is excluded fromthe determination object in automatic-driving control device 30. Thepart (b) of FIG. 16 illustrates the image displayed on head-up display 2a in the case that the possibility of the collision with the pluralityof persons 104 a to 104 c is excluded from the determination object inautomatic-driving control device 30. As illustrated in the part (b) ofFIG. 16, obstacle icon 156 surrounding first person icon 154 a, secondperson icon 154 b, and third person icon 154 c changes from a solid linedisplay to a dotted line display. The part (c) of FIG. 16 will bedescribed later. The description returns to FIG. 4.

After command processing unit 80 outputs the command, determinator 76continues the determination of the first state or the second state withrespect to the plurality of persons 104 a to 104 c until the left-turnbehavior is completed. In the case that the determination result for oneof the plurality of persons 104 a to 104 c indicates the first state,command processing unit 80 generates the command to instructautomatic-driving control device 30 to include the possibility of thecollision with the plurality of persons 104 a to 104 c in thedetermination object. This corresponds to the inclusion of thepossibility of the collision with one of the plurality of persons 104 ato 104 c that satisfies a determination object condition in thedetermination object. Command output unit 55 outputs the commandgenerated by command processing unit 80 to automatic-driving controldevice 30. When receiving the command, controller 31 ofautomatic-driving control device 30 includes the possibility of thecollision with one of the plurality of persons 104 a to 104 c in thedetermination object. By including the possibility of the collision withone of the plurality of persons 104 a to 104 c that satisfies thedetermination object condition, controller 31 stops vehicle 100 when thecollision possibility exceeds the predetermined value.

In the case that controller 31 stops vehicle 100 to notify commandprocessing unit 80 of the stop through behavior information input unit54, command processing unit 80 generates the image notifying theoccupant of the suspension of the left turn. The part (c) of FIG. 16illustrates the image displayed on head-up display 2 a in the case thatthe left turn is suspended. At this point, it is assumed that the changeis performed such that only the possibility of the collision with secondperson 104 b is included in the determination object inautomatic-driving control device 30. As illustrated in the part (c) ofFIG. 16, first person icon 154 a and third person icon 154 c aresurrounded by first obstacle icon 156 a of the dotted line display. Onthe other hand, second person icon 154 b is surrounded by secondobstacle icon 156 b of the solid line display. Although the processingperformed on the downward movement is described above, the processing inwhich the second exemplary embodiment and the third exemplary embodimentare combined may be performed on the upward movement. For example, inthe case that the downward movement and the upward movement existsimultaneously as illustrated in the part (a) of FIG. 14, the pluralityof persons including the first person who moves downward and the secondperson who moves upward may be set to a collective inquiry object.

Action of driving assistance device 40 having the above configurationwill be described. FIG. 17 is a flowchart illustrating an instructionprocedure performed by controller 41. Determinator 76 acquires distancefor determination 120 and the speed with respect to each of theplurality of persons 104 a to 104 c (S200). When all persons 104 a to104 c satisfy the exclusion condition (Y in S202), inquiry processingunit 78 collectively inquires whether the possibility of the collisionwith the plurality of persons 104 a to 104 c is to be excluded from thedetermination object through image-and-sound output unit 51 (S204). Wheninquiry processing unit 78 collectively receives the response signal ofthe exclusion through operation signal input unit 50 (Yin S206), commandprocessing unit 80 outputs the exclusion command through command outputunit 55 (S208). Subsequently, command processing unit 80 changes thedisplay (S210). When one of persons 104 a to 104 c does not satisfy theexclusion condition (N in S202), the processing is ended. In this case,the processing similar to that of the first exemplary embodiment may beperformed on one of persons 104 a to 104 c that satisfies the exclusioncondition. When inquiry processing unit 78 does not collectivelyreceives the response signal of the exclusion through operation signalinput unit 50 (N in S206), the processing is ended.

FIG. 18 is a flowchart illustrating another instruction procedureperformed by controller 41. FIG. 18 illustrates the processing aftercommand processing unit 80 outputs the exclusion command through commandoutput unit 55 and automatic-driving control device 30 excludes thepossibility of the collision with the plurality of persons 104 a to 104c from the determination object in step 208 of FIG. 17. Whenautomatic-driving control device 30 currently continues the drivingbehavior being a processing object (Y in S250), determinator 76 acquiresdistance for determination 120 and the speed with respect to each of theplurality of persons 104 a to 104 c (S252). When at least one of persons104 a to 104 c satisfies the determination object condition (Y in S254),command processing unit 80 output the command to include the possibilityof the collision with one of persons 104 a to 104 c that satisfies thedetermination object condition through the command output unit 55(S256). Command processing unit 80 changes the display (S258). Whenautomatic-driving control device 30 does not continue the drivingbehavior being a processing object (N in S250), or when all persons 104a to 104 c do not satisfy the determination object condition (N inS254), the processing is ended.

In the third exemplary embodiment, whether the possibility of thecollision with the plurality of persons is to be excluded from thedetermination object is collectively inquired, so that the number ofinquiries can be decreased. The response signal with respect to thecollective inquiry is received, so that the processing performed by theoccupant can be simplified. The processing performed by the occupant issimplified, so that a period from the inquiry to the response can beshortened. When the distance to at least one person falls below thefirst threshold, or when the speed of at least one person exceeds thesecond threshold, the possibility of the collision with the person isincluded in the determination object, so that the occurrence of thecollision with the person can be prevented.

Fourth Exemplary Embodiment

A fourth exemplary embodiment relates to a driving assistance device tobe installed in the vehicle that performs the automatic driving based onthe detected obstacle similarly to the first to third exemplaryembodiments. The fourth exemplary embodiment focuses on the “right turn”as the driving behavior. The right turn occurs at the intersectionsimilarly to the left turn. The vehicle travels on the first road, andthe automatic-driving control device calculates the possibility of thecollision with the peripheral vehicle that travels oppositely on thefirst road in front of the intersection intersecting the second road.When the collision possibility is greater than a predetermined value,the automatic-driving control device stops the vehicle in front of theintersection. In this situation, the vehicle can turn to the right inthe case that the oppositely traveling peripheral vehicle stops in frontof the intersection to give the way to the vehicle.

The driving assistance device of the fourth exemplary embodimentperforms the following processing in order to enable the right turn insuch a situation. The driving assistance device is informed byautomatic-driving control device of the driving behavior of the “stop”that occurs during the driving behavior of the “right turn”. The drivingassistance device specifies the intersection termination point withrespect to the second road in the traveling direction of the peripheralvehicle that is an oncoming vehicle on the first road in the scene inwhich the first road and the second road intersect from the mapinformation, and derives the distance between the intersectiontermination point and the peripheral vehicle as the determinationdistance. The driving assistance device acquires the speed of theperipheral vehicle. When the determination distance is greater than orequal to a first threshold, and the speed is less than or equal to asecond threshold, the driving assistance device generates the image inorder to inquire of the occupant whether the possibility of thecollision between the peripheral vehicle and the vehicle is to beexcluded from the determination object in the automatic-driving controldevice, and displays the image on a monitor in the vehicle. Whenreceiving a response operation to exclude the collision possibility fromthe occupant with respect to the display, the driving assistance devicegenerates the command to exclude the possibility of the collisionbetween the peripheral vehicle and the vehicle from the determinationobject, and transmits the command to the automatic-driving controldevice. When receiving the command from the driving assistance device,the automatic-driving control device excludes the possibility of thecollision between the peripheral vehicle and the vehicle from thedetermination object, and starts the vehicle when the collisionpossibility is small. Vehicle 100 of the fourth exemplary embodiment isof a type similar to that in FIGS. 1 and 2, and controller 41 is of atype similar to that in FIG. 4. A difference from the first exemplaryembodiment will mainly be described below.

The processing of automatic-driving control device 30 will be describedbefore the description of the processing with respect to the drivingbehavior of the “right turn” performed by driving assistance device 40.FIG. 19 illustrates a processing outline. A part (a) of FIG. 19illustrates the right-turn behavior to occur in the future, theright-turn behavior being specified by controller 31 ofautomatic-driving control device 30. First road 210 and second road 212are indicated similarly to the part (a) of FIG. 11. First route 110 a onwhich vehicle 100 is scheduled to travel is set to go upward on firstroad 210, to turn to the right at the intersection, and to enter secondroad 212. First peripheral vehicle 102 a and second peripheral vehicle102 b travel downward on first road 210, namely, travel opposite tovehicle 100. At this point, first peripheral vehicle 102 a travels infront of the intersection. It is assumed that first peripheral vehicle102 a traveling opposite to vehicle 100 is scheduled to cross vehicle100 during the right turn of vehicle 100. Controller 31 specifies aright-turn behavior as illustrated in the part (a) of FIG. 19 based onthe detection information from detector 20. Any known technique onlyneeds to be used for the specification, and the description will beomitted.

Controller 31 calculates TTC for first peripheral vehicle 102 a as thecollision possibility based on vehicle following distance 122 betweenvehicle 100 and first peripheral vehicle 102 a, the speed of vehicle100, and the speed of first peripheral vehicle 102 a. In the fourthexemplary embodiment, vehicle following distance 122 is a distance inwhich a road distance of first route 110 a from the position of vehicle100 to a point at which first route 110 a intersects second route 110 band a road distance of second route 110 b from the position of firstperipheral vehicle 102 a to the intersecting point are added to eachother. However, vehicle following distance 122 may be approximated by alinear distance between a head of vehicle 100 and a head of firstperipheral vehicle 102 a. In this case, the linear distance between thehead of vehicle 100 and the head of first peripheral vehicle 102 a isused as an approximate value. In the case that the calculated collisionpossibility is greater than the predetermined value, controller 31decides the stop behavior. When deciding the stop behavior, controller31 performs the control of stopping vehicle 100. As a result, vehicle100 travelling on first road 210 stops in front of the intersection.Controller 31 transmits information indicating the stop behavior tobehavior information input unit 54 through I/O unit 33. At this point,or before the transmission of the information, controller 31 transmitsinformation indicating the right-turn behavior as illustrated in thepart (a) of FIG. 19 to behavior information input unit 54. Parts (b) and(c) of FIG. 19 will be described later.

Behavior information input unit 54 in FIG. 4 receives the informationindicating the right-turn behavior as illustrated in the part (a) ofFIG. 19 from controller 31. Behavior information input unit 54 alsoreceives the information indicating the stop behavior from controller31. Behavior information input unit 54 outputs the received pieces ofinformation to controller 41. In the case that behavior informationinput unit 54 is informed of the stop behavior of the own vehicle,determinator 76 of controller 41 starts the following processing.Determinator 76 grasps the right-turn behavior as illustrated in thepart (a) of FIG. 19 based on the information indicating the right-turnbehavior. As described above, with no use of the information indicatingthe right-turn behavior, determinator 76 may grasp the right-turnbehavior based on the detection information similarly to controller 31.

The part (b) of FIG. 19 illustrates the right-turn behavior grasped bydeterminator 76. The part (b) of FIG. 19 illustrates second route 110 bon which first peripheral vehicle 102 a is predicted to travel. Secondroute 110 b is generated based on map information included in thedetection information and position information about first peripheralvehicle 102 a, and previously decided as going straight in a downwarddirection on first road 210. Determinator 76 acquires intersectiontermination point 112 with respect to second road 212 in the travelingdirection of first peripheral vehicle 102 a on first road 210 based onthe map information included in the detection information. Intersectiontermination point 112 is a point at which first peripheral vehicle 102 atraveling on first road 210 finally reaches in a portion in which firstroad 210 and second road 212 overlap each other. That is, intersectiontermination point 112 is an end point (line) of the intersection thatfirst peripheral vehicle 102 a travels along first road 210 to reach,and serves as an intersection completion point.

Determinator 76 derives the distance from intersection termination point112 to first peripheral vehicle 102 a as distance for determination 120.In the case that a rearmost portion of second peripheral vehicle 102 bexists between intersection termination point 112 and first peripheralvehicle 102 a, the distance from the rearmost portion of secondperipheral vehicle 102 b to first peripheral vehicle 102 a may be set todistance for determination 120. Determinator 76 acquires the speed offirst peripheral vehicle 102 a. When distance for determination 120 isshorter than the first threshold, or when the speed of first peripheralvehicle 102 a is higher than the second threshold, determinator 76determines that it is the “first state”. On the other hand, whendistance for determination 120 is greater than or equal to the firstthreshold, and the speed of first peripheral vehicle 102 a is less thanor equal to the second threshold, determinator 76 determines that it isthe “second state”. The part (c) of FIG. 19 will be described later. Thedescription returns to FIG. 4. Determinator 76 outputs the determinationresult to inquiry processing unit 78. Determinator 76 also outputsanother piece of information to inquiry processing unit 78.

In the case that the determination result from determinator 76 indicatesthe second state, inquiry processing unit 78 performs the processing ofinquiring of the occupant whether the possibility of the collisionbetween first peripheral vehicle 102 a and vehicle 100 is to be excludedfrom the determination object in automatic-driving control device 30.The inquiry processing will specifically be described below withreference to FIG. 20. FIG. 20 illustrates the image displayed onnotification device 2. A part (a) of FIG. 20 illustrates the image thatis generated by inquiry processing unit 78 and displayed on head-updisplay 2 a through image-and-sound output unit 51.

Inquiry processing unit 78 generates the image indicating the currentsituation in which the right-turn behavior occurs, namely, the situationin the part (a) of FIG. 19 based on another piece of informationreceived from determinator 76. Own vehicle icon 150 corresponding tovehicle 100, first peripheral vehicle icon 152 a corresponding to firstperipheral vehicle 102 a, and second peripheral vehicle icon 152 bcorresponding to second peripheral vehicle 102 b are illustrated in FIG.20. Rectangular obstacle icon 156 surrounding first peripheral vehicleicon 152 a is also illustrated. Inquiry processing unit 78 may superposeon the image a message to inquire of the occupant whether thepossibility of the collision between first peripheral vehicle 102 a andvehicle 100 is to be excluded from the determination object ofautomatic-driving control device 30. Various aspects may be used as theinquiry aspect. Parts (b) and (c) of FIG. 20 will be described later.The description returns to FIG. 4.

The occupant checks the image displayed on head-up display 2 a, receivesthe eye contact of mutual concessions from the occupant of firstperipheral vehicle 102 a, and recognizes the situation in which theright turn can be performed. When wanting to perform the right turn, theoccupant performs the gesture of the sweep of the hand. Third operatingunit 4 c detects this action. The action is not limited to this.Operation signal input unit 50 in FIG. 1 receives this action. Theaction corresponds to a response signal for excluding the possibility ofthe collision between first peripheral vehicle 102 a and vehicle 100from the determination object with respect to the inquiry fromimage-and-sound output unit 51. When receiving the response signal,operation signal input unit 50 notifies inquiry processing unit 78 ofthe reception of the response signal. When receiving the notification,inquiry processing unit 78 instructs command processing unit 80 togenerate the command.

In the case that inquiry processing unit 78 instructs command processingunit 80 to generate the command, command processing unit 80 generatesthe command to exclude the possibility of the collision between firstperipheral vehicle 102 a and vehicle 100 from the determination object.Command output unit 55 outputs the command generated by commandprocessing unit 80 to automatic-driving control device 30. Whenreceiving the command, controller 31 of automatic-driving control device30 calculates the collision possibility as in the past. However,controller 31 excludes the possibility of the collision between firstperipheral vehicle 102 a and vehicle 100 from the determination object,and decides the driving behavior. The part (c) of FIG. 19 illustratesthe action of vehicle 100 in the case that the possibility of thecollision between first peripheral vehicle 102 a and vehicle 100 isexcluded from the determination object. In the part (c) of FIG. 19,vehicle 100 turns to the right from first road 210 and travels on secondroad 212. The description returns to FIG. 4.

In the case that controller 31 of automatic-driving control device 30excludes the possibility of the collision between first peripheralvehicle 102 a and vehicle 100 from the determination object to performthe automatic driving, controller 31 outputs the performance of thecommand or the continuous performance of the command as the behaviorinformation to driving assistance device 40. When behavior informationinput unit 54 receives the behavior information, command processing unit80 generates the image causing the occupant to recognize that thepossibility of the collision between first peripheral vehicle 102 a andvehicle 100 is excluded from the determination object inautomatic-driving control device 30. The part (b) of FIG. 20 illustratesthe image displayed on head-up display 2 a in the case that thepossibility of the collision between first peripheral vehicle 102 a andvehicle 100 is excluded from the determination object inautomatic-driving control device 30. As illustrated in the part (b) ofFIG. 20, obstacle icon 156 surrounding first peripheral vehicle icon 152a changes from the solid line display to the dotted line display. Thepart (c) of FIG. 20 will be described later. The description returns toFIG. 4.

After command output unit 55 outputs the command, determinator 76continues the determination of the first state or the second state untilthe right-turn behavior in the part (c) of FIG. 19 is completed. In thecase that the determination result indicates the first state, commandprocessing unit 80 generates the command to instruct automatic-drivingcontrol device 30 to include the possibility of the collision betweenfirst peripheral vehicle 102 a and vehicle 100 in the determinationobject. This corresponds to the situation in which first peripheralvehicle 102 a recognized to give the way to vehicle 100 startstravelling. Command output unit 55 outputs the command generated bycommand processing unit 80 to automatic-driving control device 30. Whenreceiving the command, controller 31 of automatic-driving control device30 includes the possibility of the collision between first peripheralvehicle 102 a and vehicle 100 in the determination object. Consequently,when the collision possibility exceeds the predetermined value,controller 31 stops vehicle 100.

In the case that controller 31 stops vehicle 100 to notify commandprocessing unit 80 of the stop through behavior information input unit54, command processing unit 80 generates the image notifying theoccupant of the suspension of the right turn. The part (c) of FIG. 20illustrates the image displayed on head-up display 2 a in the case thatthe right turn is suspended. As illustrated in the part (c) of FIG. 20,obstacle icon 156 surrounding first peripheral vehicle icon 152 achanges from the dotted line display to the solid line display, and themessage is displayed.

For the right-turn behavior, sometimes a person exists on the pedestriancrossing that is provided for crossing second road 212 after the rightturn of vehicle 100. For this reason, in the right-turn behavior,similarly to the case of the left-turn behavior, there is a possibilitythat mutual concessions between the vehicle and the person occur. Theprocessing performed on mutual concessions from the person will bedescribed below. FIG. 21 illustrates another processing outlineperformed by controller 41. A part (a) of FIG. 21 illustrates theright-turn behavior to occur in the future, the right-turn behaviorbeing specified by controller 31 of automatic-driving control device 30.First route 110 a on which vehicle 100 is scheduled to travel is set togo upward on first road 210, to turn to the right at the intersection,and to enter second road 212. Person 104 exists on the pedestriancrossing provided for crossing second road 212 after the right turn. Thepart (a) of FIG. 21 except for these is similar to the part (a) of FIG.11, and controller 31 performs the processing similar to the case of theleft-turn behavior.

Behavior information input unit 54 in FIG. 4 receives the informationindicating the right-turn behavior as illustrated in the part (a) ofFIG. 21 from controller 31. Behavior information input unit 54 alsoreceives the information indicating the stop behavior from controller31. Behavior information input unit 54 outputs the received pieces ofinformation to controller 41. In the case that behavior informationinput unit 54 is informed of the stop behavior of the own vehicle,determinator 76 of controller 41 starts the following processing.Determinator 76 grasps the right-turn behavior as illustrated in thepart (a) of FIG. 21 based on the information indicating the right-turnbehavior. As described above, with no use of the information indicatingthe right-turn behavior, determinator 76 may grasp the right-turnbehavior based on the detection information similarly to controller 31.

A part (b) of FIG. 21 illustrates the right-turn behavior grasped bydeterminator 76 of automatic-driving control device 30. Third route 110c on which person 104 is predicted to walk and crossing terminationpoint 114 of second road 212 are illustrated. These images areillustrated similarly to the part (b) of FIG. 11. For this reason,automatic-driving control device 30 performs the processing similar tothe case of the left-turn behavior. As a result, as illustrated in thepart (c) of FIG. 21, sometimes vehicle 100 turns to the right from firstroad 210 and travels on second road 212. The pieces of processingsubsequent to this processing are similar to those described above, andthus the description will be omitted.

Although FIG. 21 illustrates the case that person 104 moves downward,the similar processing is performed in the case that person 104 movesupward. In addition, there may be the case that a plurality ofperipheral vehicles 102 scheduled to cross vehicle 100 during the rightturn of vehicle 100 exist, and the case that a plurality of persons 104scheduled to cross vehicle 100 during the right turn of vehicle 100exist. For such cases, the processing similar to that of the thirdexemplary embodiment may be performed.

In the fourth exemplary embodiment, when the distance to the peripheralvehicle is greater than or equal to the first threshold, and the speedof the peripheral vehicle is less than or equal to the second threshold,whether the possibility of the collision with the peripheral vehicle isto be excluded from the determination object is inquired, so that thewill of the occupant can be checked. When the response signal forexcluding the possibility of the collision with the peripheral vehiclefrom the determination object is obtained in response to the inquiry,the instruction to exclude the possibility of the collision with theperipheral vehicle from the determination object is issued, so that thevehicle can turn to the right in advance of the peripheral vehicle thatgives the way to the vehicle. When the distance to the peripheralvehicle is greater than or equal to the first threshold, and the speedof the peripheral vehicle is less than or equal to the second threshold,whether the possibility of the collision with the peripheral vehicle isto be excluded from the determination object is inquired, so that theeye contact can be performed irrespective of the automatic driving. Theinstruction that the possibility of the collision with the peripheralvehicle is to be excluded from the determination object is issued by thecombination of the inquiry and the response signal, so that the vehiclecan travel according to the situation even if the peripheral vehicleexists during the right turn.

The determination is continued even after the possibility of thecollision with the peripheral vehicle is excluded from the determinationobject, and when the distance to the peripheral vehicle falls below thefirst threshold, or when the speed of the person exceeds the secondthreshold, the possibility of the collision with the peripheral vehicleis included in the determination object, so that the occurrence of thecollision with the peripheral vehicle can be prevented. The inquiry tothe occupant is not made in including the possibility of the collisionwith the peripheral vehicle in the determination object, so that aperiod in which the possibility of the collision with the peripheralvehicle is included in the determination object can be shortened.

When the distance to the person is greater than or equal to the thirdthreshold, and the speed of the person is less than or equal to thefourth threshold, whether the possibility of the collision with theperson is to be excluded from the determination object is inquired, sothat the will of the occupant can be checked. When the response signalfor excluding the possibility of the collision with the person from thedetermination object is obtained in response to the inquiry, theinstruction to exclude the possibility of the collision with the personfrom the determination object is issued, so that the vehicle can turn tothe right in advance of the person that gives the way to the vehicle.When the distance to the person is greater than or equal to the thirdthreshold, and the speed of the person is less than or equal to thefourth threshold, whether the possibility of the collision with theperson is to be excluded from the determination object is inquired, sothat the eye contact can be performed irrespective of the automaticdriving. The instruction to exclude the possibility of the collisionwith the person from the determination object is issued by thecombination of the inquiry and the response signal, so that the vehiclecan travel according to the situation even if the person exists duringthe right turn. When the distance to the person falls below the thirdthreshold, or when the speed of the person exceeds the fourth threshold,the possibility of the collision with the person is included in thedetermination object, so that the occurrence of the collision with theperson can be prevented.

Whether the possibility of the collision with the plurality ofperipheral vehicles is to be excluded from the determination object iscollectively inquired, so that the number of inquiries can be decreased.The response signal with respect to the collective inquiry is received,so that the processing performed by the occupant can be simplified. Theprocessing performed by the occupant is simplified, so that a periodfrom the inquiry to the response can be shortened. When the distance toat least one peripheral vehicle falls below the first threshold, or whenthe speed of at least one peripheral vehicle exceeds the secondthreshold, the possibility of the collision with the peripheral vehicleis included in the determination object, so that the occurrence of thecollision with the peripheral vehicle can be prevented. Whether thepossibility of the collision with the plurality of persons is to beexcluded from the determination object is collectively inquired, so thatthe number of inquiries can be decreased. When the distance to at leastone person falls below the third threshold, or when the speed of atleast one person exceeds the fourth threshold, the possibility of thecollision with the person is included in the determination object, sothat the occurrence of the collision with the person can be prevented.

Fifth Exemplary Embodiment

A fifth exemplary embodiment relates to a driving assistance device tobe installed in the vehicle that performs the automatic driving based onthe detected obstacle similarly to the first to fourth exemplaryembodiments. Similarly to the fourth exemplary embodiment, the fifthexemplary embodiment also focuses on the “right turn” as the drivingbehavior. As described above, in the right turn, sometimes theperipheral vehicle corresponds to the obstacle, and sometimes the personcorresponds to the obstacle. At this point, in particular, it is assumedthat the peripheral vehicle and the person each correspond to theobstacle. In such a situation, in the case that the inquiry and theresponse with respect to each of the peripheral vehicle and the personis performed as in the fourth exemplary embodiment, the period until allthe pieces of processing are ended is lengthened. When the period islengthened, there is a possibility that the peripheral vehicle and theperson that stop to give the way to the vehicle start to move.

For this reason, in the case that the peripheral vehicle and the persondetermined to be in the second state exist, the driving assistancedevice of the fifth exemplary embodiment collectively perform theinquiry whether the possibility of the collision with the peripheralvehicle and the person is to be excluded from the determination objectin the automatic-driving control device. When the occupant collectivelyperforms the response operation with respect to the collective inquiry,the driving assistance device causes the automatic-driving controldevice to exclude the possibility of the collision with the peripheralvehicle and the person from the determination object. That is, theone-time inquiry and the one-time response operation are performed inorder to exclude the possibility of the collision with the peripheralvehicle and the person from the determination object in theautomatic-driving control device. Vehicle 100 of the fifth exemplaryembodiment is of a type similar to that in FIGS. 1 and 2, and controller41 is of a type similar to that in FIG. 4. Differences from the abovedescription will be mainly described below.

FIG. 22 illustrates a processing outline, and illustrates the right-turnbehavior to occur in the future, the right-turn behavior being specifiedby controller 31 of automatic-driving control device 30 and controller41 of driving assistance device 40. First road 210, second road 212,vehicle 100, first peripheral vehicle 102 a, and second peripheralvehicle 102 b are indicated similarly to the part (a) of FIG. 19. Person104 is indicated similarly to the part (a) of FIG. 21. Controller 31calculates the collision possibility with respect to each of firstperipheral vehicle 102 a and person 104. When the calculated collisionpossibility is greater than the predetermined value, controller 31decides the stop behavior.

Behavior information input unit 54 in FIG. 4 receives the informationindicating the right-turn behavior as illustrated in FIG. 22 fromcontroller 31. Behavior information input unit 54 also receives theinformation indicating the stop behavior from controller 31. Behaviorinformation input unit 54 outputs the received pieces of information tocontroller 41. Determinator 76 of controller 41 performs processingsimilar to that described above on first peripheral vehicle 102 a, andperforms processing similar to that described above on person 104. Thatis, determinator 76 determines whether first peripheral vehicle 102 a isin the first state or the second state, and determines whether person104 is in the first state or the second state.

In the case that determinator 76 determines that first peripheralvehicle 102 a and person 104 are in the second state, inquiry processingunit 78 performs the processing of collectively inquiring of theoccupant whether the possibility of the collision with first peripheralvehicle 102 a and person 104 is to be excluded from the determinationobject in automatic-driving control device 30. The inquiry processingwill specifically be described below with reference to FIG. 23. FIG. 23illustrates the image displayed on notification device 2. A part (a) ofFIG. 23 illustrates the image that is generated by inquiry processingunit 78 and displayed on head-up display 2 a through image-and-soundoutput unit 51.

Inquiry processing unit 78 generates the image indicating the currentsituation in which the right-turn behavior occurs, namely, the situationin FIG. 22 based on another piece of information received fromdeterminator 76. Own vehicle icon 150 corresponding to vehicle 100,first peripheral vehicle icon 152 a corresponding to first peripheralvehicle 102 a, second peripheral vehicle icon 152 b corresponding tosecond peripheral vehicle 102 b, and person icon 154 corresponding toperson 104 are illustrated in FIG. 23. Rectangular obstacle icon 156collectively surrounding first peripheral vehicle icon 152 a and personicon 154 is also illustrated. Various aspects may be used as the inquiryaspect. Parts (b) and (c) of FIG. 23 will be described later. Thedescription returns to FIG. 4.

The occupant checks the image displayed on head-up display 2 a, receivesthe eye contact of mutual concessions from both an occupant of firstperipheral vehicle 102 a and person 104, and recognizes the situation inwhich the right turn can be performed. When wanting to perform the rightturn, the occupant performs the gesture of the sweep of the hand. Thirdoperating unit 4 c detects this action. The action is not limited tothis. Operation signal input unit 50 in FIG. 1 receives this action. Theaction corresponds to a response signal for collectively excluding thepossibility of the collision with first peripheral vehicle 102 a andperson 104 from the determination object with respect to the collectiveinquiry from image-and-sound output unit 51. When receiving thecollective response signal, operation signal input unit 50 notifiesinquiry processing unit 78 of the reception of the collective responsesignal. When receiving the notification of the collective reception,inquiry processing unit 78 instructs command processing unit 80 togenerate the command.

In the case that inquiry processing unit 78 instructs command processingunit 80 to generate the command, command processing unit 80 generatesthe command to exclude the possibility of the collision between firstperipheral vehicle 102 a and person 104 from the determination object.Command output unit 55 outputs the command generated by commandprocessing unit 80 to automatic-driving control device 30. Whenreceiving the command, controller 31 of automatic-driving control device30 excludes the possibility of the collision with first peripheralvehicle 102 a and person 104 from the determination object.

In the case that controller 31 of automatic-driving control device 30excludes the possibility of the collision between first peripheralvehicle 102 a and person 104 from the determination object to performthe automatic driving, controller 31 outputs the performance of thecommand or the continuous performance of the command as the behaviorinformation to driving assistance device 40. When behavior informationinput unit 54 receives the behavior information, command processing unit80 generates the image causing the occupant to recognize that thepossibility of the collision with first peripheral vehicle 102 a andperson 104 is excluded from the determination object inautomatic-driving control device 30. The part (b) of FIG. 23 illustratesthe image displayed on head-up display 2 a in the case that thepossibility of the collision with first peripheral vehicle 102 a andperson 104 is excluded from the determination object inautomatic-driving control device 30. As illustrated in the part (b) ofFIG. 23, obstacle icon 156 collectively surrounding first peripheralvehicle icon 152 a and person icon 154 changes from the solid linedisplay to the dotted line display. The part (c) of FIG. 23 will bedescribed later. The description returns to FIG. 4.

After command processing unit 80 outputs the command, determinator 76continues the determination of the first state or the second state withrespect to each of first peripheral vehicle 102 a and person 104 untilthe right-turn behavior is completed. In the case that the determinationresult for first peripheral vehicle 102 a indicates the first state,command processing unit 80 generates the command to instructautomatic-driving control device 30 to include the possibility of thecollision with first peripheral vehicle 102 a in the determinationobject. This corresponds to the inclusion of the possibility of thecollision with first peripheral vehicle 102 a satisfying thedetermination object condition in the determination object. On the otherhand, in the case that the determination result for person 104 indicatesthe first state, command processing unit 80 generates the command toinstruct automatic-driving control device 30 to include the possibilityof the collision with person 104 in the determination object. Thiscorresponds to the inclusion of the possibility of the collision withperson 104 satisfying the determination object condition in thedetermination object.

Command output unit 55 outputs the command generated by commandprocessing unit 80 to automatic-driving control device 30. Whenreceiving the command, controller 31 of automatic-driving control device30 includes the possibility of the collision with first peripheralvehicle 102 a or person 104 that satisfies the determination objectcondition in the determination object. Consequently, when the collisionpossibility exceeds the predetermined value, controller 31 stops vehicle100.

In the case that controller 31 stops vehicle 100 to notify commandprocessing unit 80 of the stop through behavior information input unit54, command processing unit 80 generates the image notifying theoccupant of the suspension of the right turn. The part (c) of FIG. 23illustrates the image displayed on head-up display 2 a in the case thatthe right turn is suspended. At this point, it is assumed that thechange is performed such that the possibility of the collision withfirst peripheral vehicle 102 a is included in the determination objectin automatic-driving control device 30. As illustrated in the part (c)of FIG. 23, person icon 154 is surrounded by first obstacle icon 156 aof the dotted line display. On the other hand, first peripheral vehicleicon 152 a is surrounded by second obstacle icon 156 b of the solid linedisplay.

In the fifth exemplary embodiment, whether the possibility of thecollision with the peripheral vehicle and the person of different typesis to be excluded from the determination object is collectivelyinquired, so that the number of inquiries can be decreased. The responsesignal with respect to the collective inquiry is received, so that theprocessing performed by the occupant can be simplified. The processingperformed by the occupant is simplified, so that the period from theinquiry to the response can be shortened. In the case that the distanceto one of the peripheral vehicle and the person is shortened, or in thecase that the speed is enhanced, the possibility of the collision withthe peripheral vehicle or the person is included in the determinationobject, so that the occurrence of the collision with the peripheralvehicle or the person can be prevented.

While the exemplary embodiments of the present disclosure are describedabove with reference to the drawings, the functions of the above devicesand processors can be implemented by a computer program. A computer thatimplements the above functions through the execution of the programincludes an input device such as a keyboard, a mouse, and a touch pad,an output device such as a display and a speaker, a central processingunit (CPU), a storage device such as a ROM, a RAM, a hard disk device,and an solid state drive (SSD), a reading device that reads informationfrom a recording medium such as a digital versatile disk read onlymemory (DVD-ROM) and a universal serial bus (USB) memory, and a networkcard that conducts communication through a network, and the respectiveelements are connected to one another through a bus.

The reading device reads the program from the recording medium in whichthe program is recorded, and stores the program in the storage device.Alternatively, the network card communicates with a server deviceconnected to the network, and a program, which implements the respectivefunctions of the above devices and is downloaded from the server device,is stored in the storage device. The CPU copies the program stored inthe storage device onto the RAM, and sequentially reads instructionsincluded in the program from the RAM to execute the instructions,thereby implementing the functions of the devices. Another road user maybe included as the obstacle. For example, a motorcycle (two-wheeledvehicle) and a bicycle (with a person riding thereon) may be dealt withas the peripheral vehicle, and a person who pushes the bicycle or aperson who rides a skateboard may be dealt with the pedestrian.

An outline of one aspect of the present disclosure is as follows.

(Item 1-1)

A driving assistance device to be installed on a vehicle, the drivingassistance device including: an automatic-driving control device thatcalculates a possibility of collision between a detected obstacle andthe vehicle, controls automatic driving of the vehicle using thecalculated collision possibility as a determination object, and stopsthe vehicle when the collision possibility is greater than apredetermined value;

a behavior information input unit that receives stop-behaviorinformation about the vehicle from the automatic-driving control device;

an inquiry output unit that outputs inquiry information for inquiring ofan occupant whether the possibility of the collision between theobstacle and the vehicle is to be excluded from the determination objectin the automatic-driving control device to a notification device, when adistance from one point on a predictive movement route of the obstacleto the obstacle is greater than or equal to a first threshold, and aspeed of the obstacle is less than or equal to a second threshold, inthe case that the inquiry output unit receives the stop-behaviorinformation about the vehicle from the behavior information input unit;

an operation signal input unit that receives a response signal of aresponse operation performed by the occupant with respect to the inquiryof which the occupant is notified by the notification device, theresponse signal for excluding the possibility of the collision betweenthe obstacle and the vehicle from the determination object; and

a command output unit that outputs a command to exclude the possibilityof the collision between the obstacle and the vehicle from thedetermination object to the automatic-driving control device when theoperation signal input unit receives the response signal.

According to this aspect, when the distance to the obstacle is greaterthan or equal to the first threshold, the speed of the obstacle is lessthan or equal to the second threshold, and the response signal forexcluding the possibility of the collision between the obstacle and thevehicle from the determination object is obtained, an instruction toexclude the obstacle is issued, so that the vehicle can travel accordingto the situation in the case that the obstacle exists.

(Item 1-2)

The driving assistance device according to item 1-1, in which thecommand output unit outputs a command to include the possibility of thecollision between the obstacle and the vehicle in the determinationobject to the automatic-driving control device, when the distance fromthe one point on the predictive movement route of the obstacle to theobstacle falls below the first threshold, or when the speed of theobstacle exceeds the second threshold, after outputting the command toexclude the possibility of the collision between the obstacle and thevehicle from the determination object to the automatic-driving controldevice.

In this case, when the distance to the obstacle falls below the firstthreshold, or when the speed of the obstacle exceeds the secondthreshold, the possibility of the collision with the obstacle isincluded in the determination object, so that the occurrence of thecollision with the obstacle can be prevented.

(Item 1-3)

The driving assistance device according to item 1-1, in which thepossibility of the collision with a plurality of obstacles including theobstacle increased greater than the predetermined value in theautomatic-driving control device allows the behavior information inputunit to receive the stop-behavior information about the vehicle from theautomatic-driving control device,

the inquiry output unit outputs inquiry information for collectivelyinquiring of the occupant whether the possibility of the collision withthe plurality of obstacles is to be excluded from the determinationobject in the automatic-driving control device to the notificationdevice, when a distance from one point on a predictive movement route ofeach of the plurality of obstacles to a corresponding one of theplurality of obstacles is greater than or equal to the first threshold,and the speed of each of the plurality of obstacles is less than orequal to the second threshold, in the case that the inquiry output unitreceives the stop-behavior information about the vehicle from thebehavior information input unit,

the operation signal input unit receives a response signal with respectto the inquiry of which the occupant is notified by the notificationdevice, the response signal for collectively excluding the possibilityof the collision with the plurality of obstacles from the determinationobject, and

the command output unit outputs a command to exclude the possibility ofthe collision with the plurality of obstacles from the determinationobject to the automatic-driving control device when the operation signalinput unit receives the response signal.

In this case, whether the possibility of the collision with theplurality of obstacles is to be excluded from the determination objectis collectively inquired and then the response signal is received, sothat the processing can be simplified.

(Item 1-4)

The driving assistance device according to item 1-3, in which thecommand output unit outputs a command to include the possibility of thecollision with an obstacle satisfying a condition in the determinationobject to the automatic-driving control device, when one of thedistances from the respective points on the predictive movement routesof the plurality of obstacles to the plurality of obstacles falls belowthe first threshold, or when at least one of the speeds of the pluralityof obstacles exceeds the second threshold, after outputting the commandto exclude the possibility of the collision with the plurality ofobstacles from the determination object to the automatic-driving controldevice.

In this case, when the distance relating to at least one obstacle fallsbelow the first threshold, or when the speed of at least one obstacleexceeds the second threshold, the possibility of the collision with theobstacle is included in the determination object, so that the occurrenceof the collision with the obstacle can be prevented.

(Item 1-5)

An automatic-driving control device to be mounted in a vehicle, theautomatic-driving control device including:

an automatic-driving controller that calculates a possibility ofcollision between a detected obstacle and the vehicle, controlsautomatic driving of the vehicle using the calculated collisionpossibility as a determination object, and stops the vehicle when thecollision possibility is greater than a predetermined value;

a behavior information input unit that receives stop-behaviorinformation about the vehicle from the automatic-driving controller;

an inquiry output unit that output inquiry information for inquiring ofan occupant whether the possibility of the collision between theobstacle and the vehicle is to be excluded from the determination objectin the automatic-driving controller to a notification device, when adistance from one point on a predictive movement route of the obstacleto the obstacle is greater than or equal to a first threshold, and thespeed of the obstacle is less than or equal to a second threshold, inthe case that the inquiry output unit receives the stop-behaviorinformation about the vehicle from the behavior information input unit;

an operation signal input unit that receives a response signal of aresponse operation performed by the occupant with respect to the inquiryof which the occupant is notified by the notification device, theresponse signal for excluding the possibility of the collision betweenthe obstacle and the vehicle from the determination object; and

a command output unit that outputs a command to exclude the possibilityof the collision between the obstacle and the vehicle from thedetermination object to the automatic-driving controller when theoperation signal input unit receives the response signal.

(Item 1-6)

A vehicle including: an automatic-driving control device that calculatesa possibility of collision between a detected obstacle and the vehicle,controls automatic driving of the vehicle using the calculated collisionpossibility as a determination object, and stops the vehicle when thecollision possibility is greater than a predetermined value; and adriving assistance device,

the driving assistance device including:

a behavior information input unit that receives stop-behaviorinformation about the vehicle from the automatic-driving control device;

an inquiry output unit that outputs inquiry information for inquiring ofan occupant whether the possibility of the collision between theobstacle and the vehicle is to be excluded from the determination objectin the automatic-driving control device to a notification device, when adistance from one point on a predictive movement route of the obstacleto the obstacle is greater than or equal to a first threshold, and aspeed of the obstacle is less than or equal to a second threshold, inthe case that the inquiry output unit receives the stop-behaviorinformation about the vehicle from the behavior information input unit;

an operation signal input unit that receives a response signal of aresponse operation performed by the occupant with respect to the inquiryof which the occupant is notified by the notification device, theresponse signal for excluding the possibility of the collision betweenthe obstacle and the vehicle from the determination object; and

a command output unit that outputs a command to exclude the possibilityof the collision between the obstacle and the vehicle from thedetermination object to the automatic-driving control device when theoperation signal input unit receives the response signal.

(Item 1-7)

A driving assistance method in a driving assistance device to beinstalled on a vehicle, the driving assistance device including anautomatic-driving control device that calculates a possibility ofcollision between a detected obstacle and the vehicle, controlsautomatic driving of the vehicle using the calculated collisionpossibility as a determination object, and stops the vehicle when thecollision possibility is greater than a predetermined value, the drivingassistance method including:

a step of receiving stop-behavior information about the vehicle from theautomatic-driving control device;

a step of outputting inquiry information for inquiring of an occupantwhether the possibility of the collision between the obstacle and thevehicle is to be excluded from the determination object in theautomatic-driving control device to a notification device, when adistance from one point on a predictive movement route of the obstacleto the obstacle is greater than or equal to a first threshold, and aspeed of the obstacle is less than or equal to a second threshold, inthe case that the stop-behavior information about the vehicle is input;

a step of receiving a response signal of a response operation performedby the occupant with respect to the inquiry of which the occupant isnotified by the notification device, the response signal for excludingthe possibility of the collision between the obstacle and the vehiclefrom the determination object; and

a step of outputting a command to exclude the possibility of thecollision between the obstacle and the vehicle from the determinationobject to the automatic-driving control device when the response signalis input.

(Item 1-8)

A program in a driving assistance device to be installed on a vehicle,the driving assistance device including an automatic-driving controldevice that calculates a possibility of collision between a detectedobstacle and the vehicle, controls automatic driving of the vehicleusing the calculated collision possibility as a determination object,and stops the vehicle when the collision possibility is greater than apredetermined value, the program causing a computer to execute:

a step of receiving stop-behavior information about the vehicle from theautomatic-driving control device;

a step of outputting inquiry information for inquiring of an occupantwhether the possibility of the collision between the obstacle and thevehicle is to be excluded from the determination object in theautomatic-driving control device to a notification device, when adistance from one point on a predictive movement route of the obstacleto the obstacle is greater than or equal to a first threshold, and aspeed of the obstacle is less than or equal to a second threshold, inthe case that the stop-behavior information about the vehicle is input;

a step of receiving a response signal of a response operation performedby the occupant with respect to the inquiry of which the occupant isnotified by the notification device, the response signal for excludingthe possibility of the collision between the obstacle and the vehiclefrom the determination object; and

a step of outputting a command to exclude the possibility of thecollision between the obstacle and the vehicle from the determinationobject to the automatic-driving control device when the response signalis input.

(Item 1-9)

A driving assistance system to be installed on a vehicle, the drivingassistance system including: an automatic-driving control device thatcalculates a possibility of collision between a detected obstacle andthe vehicle, controls automatic driving of the vehicle using thecalculated collision possibility as a determination object, and stopsthe vehicle when the collision possibility is greater than apredetermined value;

a behavior information input unit that receives stop-behaviorinformation about the vehicle from the automatic-driving control device;

a notification device that makes a notification of inquiry informationfor inquiring of an occupant whether the possibility of the collisionbetween the obstacle and the vehicle is to be excluded from thedetermination object in the automatic-driving control device to anotification device, when a distance from one point on a predictivemovement route of the obstacle to the obstacle is greater than or equalto a first threshold, and a speed of the obstacle is less than or equalto a second threshold, in the case that the notification device receivesthe stop-behavior information about the vehicle from the behaviorinformation input unit;

an input device that receives a response operation performed by theoccupant with respect to the inquiry of which the occupant is notifiedby the notification device, the response operation for excluding thepossibility of the collision between the obstacle and the vehicle fromthe determination object; and

a command output unit that outputs a command to exclude the possibilityof the collision between the obstacle and the vehicle from thedetermination object to the automatic-driving control device when theinput device receives the response operation.

(Item 2-1)

A driving assistance device to be installed on a vehicle, the drivingassistance device including: an automatic-driving control device thatcalculates a possibility of collision between a detected obstacle andthe vehicle, controls automatic driving of the vehicle using thecalculated collision possibility as a determination object, and stopsthe vehicle when the possibility of the collision with another vehiclein a case of interruption by the vehicle in front of the other vehicleis greater than a predetermined value;

a behavior information input unit that receives stop-behaviorinformation about the vehicle from the automatic-driving control device;

an inquiry output unit that outputs inquiry information for inquiring ofan occupant whether the possibility of the collision between the othervehicle and the vehicle is to be excluded from the determination objectin the automatic-driving control device to a notification device, when adistance from a point at which the other vehicle is predicted to endintersection of a road on which the vehicle travels to the other vehicleis greater than or equal to a first threshold, and a speed of the othervehicle is less than or equal to a second threshold, in the case thatthe inquiry output unit receives the stop-behavior information about thevehicle from the behavior information input unit;

an operation signal input unit that receives a response signal of aresponse operation performed by the occupant with respect to the inquiryof which the occupant is notified by the notification device, theresponse signal for excluding the possibility of the collision betweenthe other vehicle and the vehicle from the determination object; and

a command output unit that outputs a command to exclude the possibilityof the collision between the other vehicle and the vehicle from thedetermination object to the automatic-driving control device when theoperation signal input unit receives the response signal.

According to this aspect, when the distance to the peripheral vehicle isgreater than or equal to the first threshold, the speed of theperipheral vehicle is less than or equal to the second threshold, andthe response signal for excluding the possibility of the collisionbetween the peripheral vehicle and the vehicle from the determinationobject is obtained, an instruction to exclude the peripheral vehicle isissued, so that the vehicle can travel according to the situation in thecase that the peripheral vehicle exists.

(Item 2-2)

The driving assistance device according to item 2-1, in which theinquiry output unit compares a distance from still another vehicle tothe other vehicle to the first threshold when the still other vehicleexists between the point at which the other vehicle is predicted to endthe crossing of the road on which the vehicle travels and the othervehicle.

In this case, the distance from the still other vehicle to the othervehicle is compared to the first threshold, so that various cases can becoped with. In the case that the still other vehicle exists, the controlcan be performed more safely.

(Item 2-3)

The driving assistance device according to Item 2-1 or 2-2, in which thecommand output unit outputs the command to include the possibility ofthe collision between the other vehicle and the vehicle in thedetermination object to the automatic-driving control device when thepoint at which the other vehicle is predicted to end the crossing of theroad on which the vehicle travels and the other vehicle falls below thefirst threshold, or when the speed of the other vehicle exceeds thesecond threshold, after outputting the command to exclude thepossibility of the collision between the other vehicle and the vehiclefrom the determination object to the automatic-driving control device.

In this case, when the distance to the peripheral vehicle falls belowthe first threshold, or when the speed of the peripheral vehicle exceedsthe second threshold, the possibility of the collision with theperipheral vehicle is included in the determination object, so that theoccurrence of the collision with the peripheral vehicle can beprevented.

(Item 2-4)

An automatic-driving control device to be mounted in a vehicle, theautomatic-driving control device including:

an automatic-driving controller that calculates a possibility ofcollision between a detected obstacle and the vehicle, controlsautomatic driving of the vehicle using the calculated collisionpossibility as a determination object, and stops the vehicle when thepossibility of the collision with another vehicle in a case ofinterruption by the vehicle in front of the other vehicle is greaterthan a predetermined value;

a behavior information input unit that receives stop-behaviorinformation about the vehicle from the automatic-driving controller;

an inquiry output unit that outputs inquiry information for inquiring ofan occupant whether the possibility of the collision between the othervehicle and the vehicle is to be excluded from the determination objectin the automatic-driving controller to a notification device, when adistance from a point at which the other vehicle is predicted to endintersection of a road on which the vehicle travels to the other vehicleis greater than or equal to a first threshold, and a speed of the othervehicle is less than or equal to a second threshold, in the case thatthe inquiry output unit receives the stop-behavior information about thevehicle from the behavior information input unit;

an operation signal input unit that receives a response signal of aresponse operation performed by the occupant with respect to the inquiryof which the occupant is notified by the notification device, theresponse signal for excluding the possibility of the collision betweenthe other vehicle and the vehicle from the determination object; and

a command output unit that outputs a command to exclude the possibilityof the collision between the other vehicle and the vehicle from thedetermination object to the automatic-driving controller when theoperation signal input unit receives the response signal.

(Item 2-5)

A vehicle including: an automatic-driving control device that calculatesa possibility of collision between a detected obstacle and the vehicle,controls automatic driving of the vehicle using the calculated collisionpossibility as a determination object, and stops the vehicle when thepossibility of the collision with another vehicle in a case ofinterruption by the vehicle in front of the other vehicle is greaterthan a predetermined value; and the driving assistance device,

the driving assistance device including:

a behavior information input unit that receives stop-behaviorinformation about the vehicle from the automatic-driving control device;

an inquiry output unit that outputs inquiry information for inquiring ofan occupant whether the possibility of the collision between the othervehicle and the vehicle is to be excluded from the determination objectin the automatic-driving control device to a notification device, when adistance from a point at which the other vehicle is predicted to endintersection of a road on which the vehicle travels to the other vehicleis greater than or equal to a first threshold, and a speed of the othervehicle is less than or equal to a second threshold, in the case thatthe inquiry output unit receives the stop-behavior information about thevehicle from the behavior information input unit;

an operation signal input unit that receives a response signal of aresponse operation performed by the occupant with respect to the inquiryof which the occupant is notified by the notification device, theresponse signal for excluding the possibility of the collision betweenthe other vehicle and the vehicle from the determination object; and

a command output unit that outputs a command to exclude the possibilityof the collision between the other vehicle and the vehicle from thedetermination object to the automatic-driving control device when theoperation signal input unit receives the response signal.

(Item 2-6)

A driving assistance method in a driving assistance device to beinstalled on a vehicle, the driving assistance device including anautomatic-driving control device that calculates a possibility ofcollision between a detected obstacle and the vehicle, controlsautomatic driving of the vehicle using the calculated collisionpossibility as a determination object, and stops the vehicle when thepossibility of the collision with another vehicle in a case ofinterruption by the vehicle in front of the other vehicle is greaterthan a predetermined value, the driving assistance method including:

a step of receiving stop-behavior information about the vehicle from theautomatic-driving control device;

a step of outputting inquiry information for inquiring of an occupantwhether the possibility of the collision between the other vehicle andthe vehicle is to be excluded from the determination object in theautomatic-driving control device to a notification device, when adistance from a point at which the other vehicle is predicted to endintersection of a road on which the vehicle travels to the other vehicleis greater than or equal to a first threshold, and a speed of the othervehicle is less than or equal to a second threshold, in the case thatthe stop-behavior information about the vehicle is input;

a step of receiving a response signal of a response operation performedby the occupant with respect to the inquiry of which the occupant isnotified by the notification device, the response signal for excludingthe possibility of the collision between the other vehicle and thevehicle from the determination object; and

a step of outputting a command to exclude the possibility of thecollision between the other vehicle and the vehicle from thedetermination object to the automatic-driving control device when theresponse signal is input.

(Item 2-7)

A program in a driving assistance device to be installed on a vehicle,the driving assistance device including an automatic-driving controldevice that calculates a possibility of collision between a detectedobstacle and the vehicle, controls automatic driving of the vehicleusing the calculated collision possibility as a determination object,and stops the vehicle when the possibility of the collision with anothervehicle in a case of interruption by the vehicle in front of the othervehicle is greater than a predetermined value, the program causing acomputer to execute:

a step of receiving stop-behavior information about the vehicle from theautomatic-driving control device;

a step of outputting inquiry information for inquiring of an occupantwhether the possibility of the collision between the other vehicle andthe vehicle is to be excluded from the determination object in theautomatic-driving control device to a notification device, when adistance from a point at which the other vehicle is predicted to endintersection of a road on which the vehicle travels to the other vehicleis greater than or equal to a first threshold, and a speed of the othervehicle is less than or equal to a second threshold, in the case thatthe stop-behavior information about the vehicle is input;

a step of receiving a response signal of a response operation performedby the occupant with respect to the inquiry of which the occupant isnotified by the notification device, the response signal for excludingthe possibility of the collision between the other vehicle and thevehicle from the determination object; and

a step of outputting a command to exclude the possibility of thecollision between the other vehicle and the vehicle from thedetermination object to the automatic-driving control device when theresponse signal is input.

(Item 2-8)

A driving assistance system to be installed on a vehicle, the drivingassistance system including: an automatic-driving control device thatcalculates a possibility of collision between a detected obstacle andthe vehicle, controls automatic driving of the vehicle using thecalculated collision possibility as a determination object, and stopsthe vehicle when the possibility of the collision with another vehiclein a case of interruption by the vehicle in front of the other vehicleis greater than a predetermined value;

a behavior information input unit that receives stop-behaviorinformation about the vehicle from the automatic-driving control device;

a notification device makes a notification of inquiry information forinquiring of an occupant whether the possibility of the collisionbetween the other vehicle and the vehicle is to be excluded from thedetermination object in the automatic-driving control device to anotification device, when a distance from a point at which the othervehicle is predicted to end intersection of a road on which the vehicletravels to the other vehicle is greater than or equal to a firstthreshold, and a speed of the other vehicle is less than or equal to asecond threshold, in the case that the inquiry output unit receives thestop-behavior information about the vehicle from the behaviorinformation input unit;

an input device that receives a response operation performed by theoccupant with respect to the inquiry of which the occupant is notifiedby the notification device, the response operation for excluding thepossibility of the collision between the other vehicle and the vehiclefrom the determination object; and

a command output unit that outputs a command to exclude the possibilityof the collision between the other vehicle and the vehicle from thedetermination object to the automatic-driving control device when theinput device receives the response operation.

(Item 3-1)

A driving assistance device to be installed on a vehicle, the drivingassistance device including: an automatic-driving control device thatcalculates a possibility of collision between a detected obstacle andthe vehicle, controls automatic driving of the vehicle using thecalculated collision possibility as a determination object, and stopsthe vehicle when the possibility of the collision with a person whocrosses a road on which the vehicle performs a left turn, the collisionpossibility being calculated when the vehicle performs the left turn, isgreater than a predetermined value;

a behavior information input unit that receives stop-behaviorinformation about the vehicle from the automatic-driving control device;

an inquiry output unit that outputs inquiry information for inquiring ofan occupant whether the possibility of the collision between the personand the vehicle is to be excluded from the determination object in theautomatic-driving control device to a notification device when adistance from a point at which the person is predicted to end crossingto the person is greater than or equal to a first threshold and a speedof the person is less than or equal to a second threshold in the casethat the inquiry output unit receives the stop-behavior informationabout the vehicle from the behavior information input unit;

an operation signal input unit that receives a response signal of aresponse operation performed by the occupant with respect to the inquiryof which the occupant is notified by the notification device, theresponse signal for excluding the possibility of the collision betweenthe person and the vehicle from the determination object; and

a command output unit that outputs a command to exclude the possibilityof the collision between the person and the vehicle from thedetermination object to the automatic-driving control device when theoperation signal input unit receives the response signal.

According to this aspect, when the distance to the person is greaterthan or equal to the first threshold, the speed of the person is lessthan or equal to the second threshold, and the response signal forexcluding the possibility of the collision between the person and thevehicle from the determination object is obtained, an instruction toexclude the person is issued, so that the vehicle can travel accordingto the situation in the case that the person exists.

(Item 3-2)

The driving assistance device according to item 3-1, in which thecommand output unit outputs the command to include the possibility ofthe collision between the person and the vehicle in the determinationobject to the automatic-driving control device, when the distance fromthe point at which the person is predicted to end the crossing to theperson falls below the first threshold, or when the speed of the personexceeds the second threshold, after outputting the command to excludethe possibility of the collision between the obstacle and the vehiclefrom the determination object to the automatic-driving control device.

In this case, when the distance to the person falls below the firstthreshold, or when the speed of the person exceeds the second threshold,the possibility of the collision with the person is included in thedetermination object, so that the occurrence of the collision with theperson can be prevented.

(Item 3-3)

The driving assistance device according to item 3-1, in which if thepossibility of the collision with a plurality of persons including theperson is increased greater than the predetermined value in theautomatic-driving control device, the behavior information input unitreceives the stop-behavior information about the vehicle from theautomatic-driving control device,

the inquiry output unit outputs inquiry information for collectivelyinquiring of the occupant whether the possibility of the collision withthe plurality of persons is to be excluded from the determination objectin the automatic-driving control device to the notification device, whenthe distance from the point at which each of the plurality of persons ispredicted to end the crossing to a corresponding one of the plurality ofpersons is greater than or equal to the first threshold, and the speedof each of the plurality of persons is less than or equal to the secondthreshold, in the case that the inquiry output unit receives thestop-behavior information about the vehicle from the behaviorinformation input unit,

the operation signal input unit receives a response signal of a responseoperation with respect to the inquiry of which the occupant is notifiedby the notification device, the response signal for excluding thepossibility of the collision with the plurality of persons from thedetermination object, and

the command output unit outputs a command to exclude the possibility ofthe collision with the plurality of persons from the determinationobject to the automatic-driving control device when the operation signalinput unit receives the response signal.

In this case, whether the possibility of the collision with theplurality of persons is to be excluded from the determination object iscollectively inquired to receive the response signal, so that theprocessing can be simplified.

(Item 3-4)

The driving assistance device according to item 3-3, in which thecommand output unit outputs a command to include the possibility of thecollision with a person satisfying a condition in the determinationobject to the automatic-driving control device, when at least one of thedistances from the respective points at which the plurality of personsare predicted to end the crossing to the plurality of persons fallsbelow the first threshold, or when at least one of the speeds of theplurality of persons exceeds the second threshold, after outputting thecommand to exclude the possibility of the collision with the pluralityof persons from the determination object to the automatic-drivingcontrol device.

In this case, when the distance to at least one person falls below thefirst threshold, or when the speed of at least one person exceeds thesecond threshold, the possibility of the collision with the person isincluded in the determination object, so that the occurrence of thecollision with the person can be prevented.

(Item 3-5)

An automatic-driving control device to be mounted in a vehicle, theautomatic-driving control device including:

an automatic-driving controller that calculates a possibility ofcollision between a detected obstacle and the vehicle, controlsautomatic driving of the vehicle using the calculated collisionpossibility as a determination object, and stops the vehicle when thepossibility of the collision with a person who crosses a road on whichthe vehicle performs a left turn, the collision possibility beingcalculated when the vehicle performs the left turn, is greater than apredetermined value;

a behavior information input unit that receives stop-behaviorinformation about the vehicle from the automatic-driving controller;

an inquiry output unit that outputs inquiry information for inquiring ofan occupant whether the possibility of the collision between the personand the vehicle is to be excluded from the determination object in theautomatic-driving controller to a notification device, when a distancefrom a point at which the person is predicted to end crossing to theperson is greater than or equal to a first threshold, and a speed of theperson is less than or equal to a second threshold, in the case that theinquiry output unit receives the stop-behavior information about thevehicle from the behavior information input unit;

an operation signal input unit that receives a response signal of aresponse operation performed by the occupant with respect to the inquiryof which the occupant is notified by the notification device, theresponse signal for excluding the possibility of the collision betweenthe person and the vehicle from the determination object; and

a command output unit that outputs a command to exclude the possibilityof the collision between the person and the vehicle from thedetermination object to the automatic-driving controller when theoperation signal input unit receives the response signal.

(Item 3-6)

A vehicle including: an automatic-driving control device that calculatesa possibility of collision between a detected obstacle and the vehicle,controls automatic driving of the vehicle using the calculated collisionpossibility as a determination object, and stops the vehicle when thepossibility of the collision with a person who crosses a road on whichthe vehicle performs a left turn, the collision possibility beingcalculated when the vehicle performs the left turn, is greater than apredetermined value; and a driving assistance device,

the driving assistance device including:

a behavior information input unit that receives stop-behaviorinformation about the vehicle from the automatic-driving control device;

an inquiry output unit that outputs inquiry information for inquiring ofan occupant whether the possibility of the collision between the personand the vehicle is to be excluded from the determination object in theautomatic-driving control device to a notification device, when adistance from a point at which the person is predicted to end crossingto the person is greater than or equal to a first threshold, and a speedof the person is less than or equal to a second threshold, in the casethat the inquiry output unit receives the stop-behavior informationabout the vehicle from the behavior information input unit;

an operation signal input unit that receives a response signal of aresponse operation performed by the occupant with respect to the inquiryof which the occupant is notified by the notification device, theresponse signal for excluding the possibility of the collision betweenthe person and the vehicle from the determination object; and

a command output unit that outputs a command to exclude the possibilityof the collision between the person and the vehicle from thedetermination object to the automatic-driving control device when theoperation signal input unit receives the response signal.

(Item 3-7)

A driving assistance method in a driving assistance device to beinstalled on a vehicle, the driving assistance device including anautomatic-driving control device that calculates a possibility ofcollision between a detected obstacle and the vehicle, controlsautomatic driving of the vehicle using the calculated collisionpossibility as a determination object, and stops the vehicle when thepossibility of the collision with a person who crosses a road on whichthe vehicle performs a left turn, the collision possibility beingcalculated when the vehicle performs the left turn, is greater than apredetermined value, the driving assistance method including:

a step of receiving stop-behavior information about the vehicle from theautomatic-driving control device;

a step of outputting inquiry information for inquiring of an occupantwhether the possibility of the collision between the person and thevehicle is to be excluded from the determination object in theautomatic-driving control device to a notification device when adistance from a point at which the person is predicted to end crossingto the person is greater than or equal to a first threshold and a speedof the person is less than or equal to a second threshold in the casethat the stop-behavior information about the vehicle is input;

a step of receiving a response signal of a response operation performedby the occupant with respect to the inquiry of which the occupant isnotified by the notification device, the response signal for excludingthe possibility of the collision between the person and the vehicle fromthe determination object; and

a step of outputting a command to exclude the possibility of thecollision between the person and the vehicle from the determinationobject to the automatic-driving control device when the response signalis input.

(Item 3-8)

A program in a driving assistance device to be installed on a vehicle,the driving assistance device including an automatic-driving controldevice that calculates a possibility of collision between a detectedobstacle and the vehicle, controls automatic driving of the vehicleusing the calculated collision possibility as a determination object,and stops the vehicle when the possibility of the collision with aperson who crosses a road on which the vehicle performs a left turn, thecollision possibility being calculated when the vehicle performs theleft turn, is greater than a predetermined value, the program causing acomputer to execute:

a step of receiving stop-behavior information about the vehicle from theautomatic-driving control device;

a step of outputting inquiry information for inquiring of an occupantwhether the possibility of the collision between the person and thevehicle is to be excluded from the determination object in theautomatic-driving control device to a notification device, when adistance from a point at which the person is predicted to end crossingto the person is greater than or equal to a first threshold, and a speedof the person is less than or equal to a second threshold, in the casethat the stop-behavior information about the vehicle is input;

a step of receiving a response signal of a response operation performedby the occupant with respect to the inquiry of which the occupant isnotified by the notification device, the response signal for excludingthe possibility of the collision between the person and the vehicle fromthe determination object; and

a step of outputting a command to exclude the possibility of thecollision between the person and the vehicle from the determinationobject to the automatic-driving control device when the response signalis input.

(Item 3-9)

A driving assistance system to be installed on a vehicle, the drivingassistance system including: an automatic-driving control device thatcalculates a possibility of collision between a detected obstacle andthe vehicle, controls automatic driving of the vehicle using thecalculated collision possibility as a determination object, and stopsthe vehicle when the possibility of the collision with a person whocrosses a road on which the vehicle performs a left turn, the collisionpossibility being calculated when the vehicle performs the left turn, isgreater than a predetermined value;

a behavior information input unit that receives stop-behaviorinformation about the vehicle from the automatic-driving control device;

a notification device that makes a notification of inquiry informationfor inquiring of an occupant whether the possibility of the collisionbetween the person and the vehicle is to be excluded from thedetermination object in the automatic-driving control device to anotification device, when a distance from a point at which the person ispredicted to end crossing to the person is greater than or equal to afirst threshold, and a speed of the person is less than or equal to asecond threshold, in the case that the inquiry output unit receives thestop-behavior information about the vehicle from the behaviorinformation input unit;

an input device that receives a response operation performed by theoccupant with respect to the inquiry of which the occupant is notifiedby the notification device, the response operation for excluding thepossibility of the collision between the person and the vehicle from thedetermination object; and

a command output unit that outputs a command to exclude the possibilityof the collision between the person and the vehicle from thedetermination object to the automatic-driving control device when theinput device receives the response operation.

(Item 4-1)

A driving assistance device to be installed on a vehicle, the drivingassistance device including: an automatic-driving control device thatcalculates a possibility of collision between a detected obstacle andthe vehicle, controls automatic driving of the vehicle using thecalculated collision possibility as a determination object, and stopsthe vehicle when the possibility of the collision with another vehiclethat crosses the vehicle during a right turn of the vehicle whiletraveling opposite to the vehicle, the collision possibility beingcalculated when the vehicle performs the right turn, is greater than apredetermined value;

a behavior information input unit that receives stop-behaviorinformation about the vehicle from the automatic-driving control device;

an inquiry output unit that outputs inquiry information for inquiring ofan occupant whether the possibility of the collision between the othervehicle and the vehicle is to be excluded from the determination objectin the automatic-driving control device to a notification device, when adistance from a point at which the other vehicle is predicted to endintersection to the other vehicle is greater than or equal to a firstthreshold, and a speed of the other vehicle is less than or equal to asecond threshold, in the case that the inquiry output unit receives thestop-behavior information about the vehicle from the behaviorinformation input unit;

an operation signal input unit that receives a response signal of aresponse operation performed by the occupant with respect to the inquiryof which the occupant is notified by the notification device, theresponse signal for excluding the possibility of the collision betweenthe other vehicle and the vehicle from the determination object; and

a command output unit that outputs a command to exclude the possibilityof the collision between the other vehicle and the vehicle from thedetermination object to the automatic-driving control device when theoperation signal input unit receives the response signal.

According to this aspect, when the distance to the peripheral vehicle isgreater than or equal to the first threshold, the speed of theperipheral vehicle is less than or equal to the second threshold, andthe response signal for excluding the possibility of the collisionbetween the peripheral vehicle and the vehicle from the determinationobject is obtained, an instruction to exclude the peripheral vehicle isissued, so that the vehicle can travel according to the situation in thecase that the peripheral vehicle exists.

(Item 4-2)

The driving assistance device according to item 4-1, in which theinquiry output unit compares a distance from still another vehicle tothe other vehicle to the first threshold when the still another vehicleexists between the point at which the other vehicle is predicted to endthe crossing and the other vehicle.

In this case, the distance from the still other vehicle to the othervehicle is compared to the first threshold, so that various cases can becoped with. In the case that the still other vehicle exists, the controlcan be performed more safely.

(Item 4-3)

The driving assistance device according to Item 4-1 or 4-2, in which thecommand output unit outputs the command to include the possibility ofthe collision between the other vehicle and the vehicle in thedetermination object to the automatic-driving control device, when thepoint at which the other vehicle is predicted to end the crossing andthe other vehicle falls below the first threshold, or when the speed ofthe other vehicle exceeds the second threshold, after outputting thecommand to exclude the possibility of the collision between the obstacleand the vehicle from the determination object to the automatic-drivingcontrol device.

In this case, when the distance to the peripheral vehicle falls belowthe first threshold, or when the speed of the peripheral vehicle exceedsthe second threshold, the possibility of the collision with theperipheral vehicle is included in the determination object, so that theoccurrence of the collision with the peripheral vehicle can beprevented.

(Item 4-4)

The driving assistance device according to any one of items 4-1 to 4-3,in which the behavior information input unit receives stop-behaviorinformation about the vehicle from the automatic-driving control device,when the possibility of the collision with a person who crosses a roadon which the vehicle performs a right turn, the collision possibilitybeing calculated when the vehicle performs the right turn in theautomatic-driving control device, is greater than or equal to apredetermined value,

the inquiry output unit outputs inquiry information for inquiring of anoccupant whether the possibility of the collision between the person andthe vehicle is to be excluded from the determination object in theautomatic-driving control device to a notification device, when adistance from a point at which the person is predicted to end crossingto the person is greater than or equal to a third threshold, and a speedof the person is less than or equal to a fourth threshold, in the casethat the inquiry output unit receives the stop-behavior informationabout the vehicle from the behavior information input unit,

the operation signal input unit receives a response signal of a responseoperation performed by the occupant with respect to the inquiry of whichthe occupant is notified by the notification device, the response signalfor excluding the possibility of the collision between the person andthe vehicle from the determination object, and

the command output unit outputs a command to exclude the possibility ofthe collision between the person and the vehicle from the determinationobject to the automatic-driving control device when the operation signalinput unit receives the response signal.

According to this aspect, when the distance to the person is greaterthan or equal to the third threshold, the speed of the person is lessthan or equal to the fourth threshold, and the response signal forexcluding the possibility of the collision between the person and thevehicle from the determination object is obtained, an instruction toexclude the person is issued, so that the vehicle can travel accordingto the situation in the case that the person exists.

(Item 4-5)

The driving assistance device according to item 4-4, in which thecommand output unit outputs the command to include the possibility ofthe collision between the person and the vehicle in the determinationobject to the automatic-driving control device, when the distance fromthe point at which the person is predicted to end the crossing to theperson falls below the third threshold, or when the speed of the personexceeds the fourth threshold, after outputting the command to excludethe possibility of the collision between the obstacle and the vehiclefrom the determination object to the automatic-driving control device.

In this case, when the distance to the person falls below the thirdthreshold, or when the speed of the person exceeds the fourth threshold,the possibility of the collision with the person is included in thedetermination object, so that the occurrence of the collision with theperson can be prevented.

(Item 4-6)

The driving assistance device according to item 4-1 or 4-2, in which ifthe possibility of the collision with a plurality of other vehiclesincluding the other vehicle is increased greater than the predeterminedvalue in the automatic-driving control device, the behavior informationinput unit receives the stop-behavior information about the vehicle fromthe automatic-driving control device,

the inquiry output unit outputs inquiry information for collectivelyinquiring of the occupant whether the possibility of the collision withthe plurality of other vehicles is to be excluded from the determinationobject in the automatic-driving control device to the notificationdevice, when the distance from the point at which each of the pluralityof other vehicles is predicted to end intersection to a correspondingone of the plurality of other vehicles is greater than or equal to thefirst threshold, and the speed of each of the plurality of othervehicles is less than or equal to the second threshold, in the case thatthe inquiry output unit receives the stop-behavior information about thevehicle from the behavior information input unit,

the operation signal input unit receives a response signal of a responseoperation with respect to the inquiry of which the occupant is notifiedby the notification device, the response signal for excluding thepossibility of the collision with the plurality of other vehicles fromthe determination object, and

the command output unit outputs a command to exclude the possibility ofthe collision with the plurality of other vehicles from thedetermination object to the automatic-driving control device when theoperation signal input unit receives the response signal.

In this case, whether the possibility of the collision with theplurality of other vehicles is to be excluded from the determinationobject is collectively inquired to receive the response signal, so thatthe processing can be simplified.

(Item 4-7)

The driving assistance device according to item 4-6, in which thecommand output unit outputs a command to include the possibility of thecollision with other vehicles satisfying a condition in thedetermination object to the automatic-driving control device, when oneof the distances from the respective points at which the plurality ofother vehicles are predicted to end the intersection to the plurality ofother vehicles falls below the first threshold, or when at least one ofthe speeds of the plurality of other vehicles exceeds the secondthreshold, after outputting the command to exclude the possibility ofthe collision with the plurality of other vehicles from thedetermination object to the automatic-driving control device.

In this case, when the distance to at least one peripheral vehicle fallsbelow the first threshold, or when the speed of at least one peripheralvehicle exceeds the second threshold, the possibility of the collisionwith the peripheral vehicle is included in the determination object, sothat the occurrence of the collision with the peripheral vehicle can beprevented.

(Item 4-8)

The driving assistance device according to item 4-4, in which thepossibility of the collision with a plurality of persons including theperson is increased greater than the predetermined value in theautomatic-driving control device, which allows the behavior informationinput unit to receive the stop-behavior information about the vehiclefrom the automatic-driving control device,

the inquiry output unit outputs inquiry information for collectivelyinquiring of the occupant whether the possibility of the collision withthe plurality of persons is to be excluded from the determination objectin the automatic-driving control device to the notification device, whenthe distance from the point at which each of the plurality of persons ispredicted to end the crossing to a corresponding one of the plurality ofpersons is greater than or equal to the third threshold, and the speedof each of the plurality of persons is less than or equal to the fourththreshold, in the case that the inquiry output unit receives thestop-behavior information about the vehicle from the behaviorinformation input unit,

the operation signal input unit receives a response signal of a responseoperation with respect to the inquiry of which the occupant is notifiedby the notification device, the response signal for excluding thepossibility of the collision with the plurality of persons from thedetermination object, and

the command output unit outputs a command to exclude the possibility ofthe collision with the plurality of persons from the determinationobject to the automatic-driving control device when the operation signalinput unit receives the response signal.

In this case, whether the possibility of the collision with theplurality of persons is to be excluded from the determination object iscollectively inquired to receive the response signal, so that theprocessing can be simplified.

(Item 4-9)

The driving assistance device according to item 4-8, in which thecommand output unit outputs a command to include the possibility of thecollision with a person satisfying a condition in the determinationobject to the automatic-driving control device, when at least one of thedistances from the respective points at which the plurality of personsare predicted to end the crossing to the plurality of persons fallsbelow the third threshold, or when at least one of the speeds of theplurality of persons exceeds the fourth threshold, after outputting thecommand to exclude the possibility of the collision with the pluralityof persons from the determination object to the automatic-drivingcontrol device.

In this case, when the distance with respect to at least one personfalls below the third threshold, or when the speed of at least oneperson exceeds the fourth threshold, the possibility of the collisionwith the person is included in the determination object, so that theoccurrence of the collision with the person can be prevented.

(Item 4-10)

The driving assistance device according to item 4-4, in which theinquiry output unit outputs inquiry information for collectivelyinquiring of the occupant whether the possibility of the collisionbetween the other vehicle and the person is to be excluded from thedetermination object in the automatic-driving control device to thenotification device, when the distance from a point at which the othervehicle is predicted to end intersection to the other vehicle is greaterthan or equal to the first threshold, the speed of the other vehicle isless than or equal to the second threshold, the distance from the pointat which the person is predicted to end the intersection to the personis greater than or equal to the third threshold, and the speed of theperson is less than or equal to the fourth threshold, in the case thatthe inquiry output unit receives the stop-behavior information about thevehicle from the behavior information input unit,

the operation signal input unit receives a response signal of a responseoperation with respect to the inquiry of which the occupant is notifiedby the notification device, the response signal for excluding thepossibility of the collision between the other vehicle and the personfrom the determination object, and

the command output unit outputs a command to exclude the possibility ofthe collision between the anther vehicle and the person from thedetermination object to the automatic-driving control device when theoperation signal input unit receives the response signal.

In this case, whether the possibility of the collision betweenperipheral vehicle and the person is to be excluded from thedetermination object is collectively inquired to receive the responsesignal, so that the processing can be simplified.

(Item 4-11)

The driving assistance device according to item 4-10, in which (1) thecommand output unit outputs the command to include the possibility ofthe collision with the other vehicle satisfying a condition in thedetermination object to the automatic-driving control device, when thedistance from the point at which the other vehicle is predicted to endthe intersection to the other vehicle falls below the first threshold,or when the speed of the other vehicle exceeds the second threshold, and(2) the command output unit outputs the command to include thepossibility of the collision with the person satisfying a condition inthe determination object to the automatic-driving control device, whenthe distance from the point at which the person is predicted to end thecrossing to the person falls below the third threshold, or when thespeed of the person exceeds the fourth threshold, after outputting thecommand to exclude the possibility of the collision between the othervehicle and the person from the determination object to theautomatic-driving control device.

In the case that the distance to one of the peripheral vehicle and theperson is shortened, or in the case that the speed is enhanced, thepossibility of the collision with the peripheral vehicle or the personis included in the determination object, so that the occurrence of thecollision with the peripheral vehicle or the person can be prevented.

(Item 4-12)

An automatic-driving control device to be mounted in a vehicle, theautomatic-driving control device including:

an automatic-driving controller that calculates a possibility ofcollision between a detected obstacle and the vehicle, controlsautomatic driving of the vehicle using the calculated collisionpossibility as a determination object, and stops the vehicle when thepossibility of the collision with another vehicle that crosses thevehicle during a right turn of the vehicle while traveling opposite tothe vehicle, the collision possibility being calculated when the vehicleperforms the right turn, is greater than a predetermined value;

a behavior information input unit that receives stop-behaviorinformation about the vehicle from the automatic-driving controller;

an inquiry output unit that outputs inquiry information for inquiring ofan occupant whether the possibility of the collision between the othervehicle and the vehicle is to be excluded from the determination objectin the automatic-driving controller to a notification device, when adistance from a point at which the other vehicle is predicted to endintersection to the other vehicle is greater than or equal to a firstthreshold, and a speed of the other vehicle is less than or equal to asecond threshold, in the case that the inquiry output unit receives thestop-behavior information about the vehicle from the behaviorinformation input unit;

an operation signal input unit that receives a response signal of aresponse operation performed by the occupant with respect to the inquiryof which the occupant is notified by the notification device, theresponse signal for excluding the possibility of the collision betweenthe other vehicle and the vehicle from the determination object; and

a command output unit that outputs a command to exclude the possibilityof the collision between the other vehicle and the vehicle from thedetermination object to the automatic-driving controller when theoperation signal input unit receives the response signal.

(Item 4-13)

A vehicle including: the driving assistance device including: anautomatic-driving control device that calculates a possibility ofcollision between a detected obstacle and the vehicle, controlsautomatic driving of the vehicle using the calculated collisionpossibility as a determination object, and stops the vehicle when thepossibility of the collision with another vehicle that crosses thevehicle during a right turn of the vehicle while traveling opposite tothe vehicle, the collision possibility being calculated when the vehicleperforms the right turn, is greater than a predetermined value; and adriving assistance device,

the driving assistance device including:

a behavior information input unit that receives stop-behaviorinformation about the vehicle from the automatic-driving control device;

an inquiry output unit that outputs inquiry information for inquiring ofan occupant whether the possibility of the collision between the othervehicle and the vehicle is to be excluded from the determination objectin the automatic-driving control device to a notification device, when adistance from a point at which the other vehicle is predicted to endintersection to the other vehicle is greater than or equal to a firstthreshold, and a speed of the other vehicle is less than or equal to asecond threshold, in the case that the inquiry output unit receives thestop-behavior information about the vehicle from the behaviorinformation input unit;

an operation signal input unit that receives a response signal of aresponse operation performed by the occupant with respect to the inquiryof which the occupant is notified by the notification device, theresponse signal for excluding the possibility of the collision betweenthe other vehicle and the vehicle from the determination object; and

a command output unit that outputs a command to exclude the possibilityof the collision between the other vehicle and the vehicle from thedetermination object to the automatic-driving control device when theoperation signal input unit receives the response signal.

(Item 4-14)

A driving assistance method in a driving assistance device to beinstalled on a vehicle, the driving assistance device including anautomatic-driving control device that calculates a possibility ofcollision between a detected obstacle and the vehicle, controlsautomatic driving of the vehicle using the calculated collisionpossibility as a determination object, and stops the vehicle when thepossibility of the collision with another vehicle that crosses thevehicle during a right turn of the vehicle while traveling opposite tothe vehicle, the collision possibility being calculated when the vehicleperforms the right turn, is greater than a predetermined value, thedriving assistance method including:

a step of receiving stop-behavior information about the vehicle from theautomatic-driving control device;

a step of outputting inquiry information for inquiring of an occupantwhether the possibility of the collision between the other vehicle andthe vehicle is to be excluded from the determination object in theautomatic-driving control device to a notification device, when adistance from a point at which the other vehicle is predicted to endcrossing to the other vehicle is greater than or equal to a firstthreshold, and a speed of the other vehicle is less than or equal to asecond threshold, in the case that the stop-behavior information aboutthe vehicle is input;

a step of receiving a response signal of a response operation performedby the occupant with respect to the inquiry of which the occupant isnotified by the notification device, the response signal for excludingthe possibility of the collision between the other vehicle and thevehicle from the determination object; and

a step of outputting a command to exclude the possibility of thecollision between the other vehicle and the vehicle from thedetermination object to the automatic-driving control device when theresponse signal is input.

(Item 4-15)

A program in a driving assistance device to be installed on a vehicle,the driving assistance device including an automatic-driving controldevice that calculates a possibility of collision between a detectedobstacle and the vehicle, controls automatic driving of the vehicleusing the calculated collision possibility as a determination object,and stops the vehicle when the possibility of the collision with anothervehicle that crosses the vehicle during a right turn of the vehiclewhile traveling opposite to the vehicle, the collision possibility beingcalculated when the vehicle performs the right turn, is greater than apredetermined value, the program causing a computer to execute:

a step of receiving stop-behavior information about the vehicle from theautomatic-driving control device;

a step of outputting inquiry information for inquiring of an occupantwhether the possibility of the collision between the other vehicle andthe vehicle is to be excluded from the determination object in theautomatic-driving control device to a notification device, when adistance from a point at which the other vehicle is predicted to endintersection to the other vehicle is greater than or equal to a firstthreshold, and a speed of the other vehicle is less than or equal to asecond threshold, in the case that the stop-behavior information aboutthe vehicle is input;

a step of receiving a response signal of a response operation performedby the occupant with respect to the inquiry of which the occupant isnotified by the notification device, the response signal for excludingthe possibility of the collision between the other vehicle and thevehicle from the determination object; and

a step of outputting a command to exclude the possibility of thecollision between the other vehicle and the vehicle from thedetermination object to the automatic-driving control device when theresponse signal is input.

(Item 4-16)

A driving assistance system to be installed on a vehicle, the drivingassistance system including: an automatic-driving control device thatcalculates a possibility of collision between a detected obstacle andthe vehicle, controls automatic driving of the vehicle using thecalculated collision possibility as a determination object, and stopsthe vehicle when the possibility of the collision with another vehiclethat crosses the vehicle during a right turn of the vehicle whiletraveling opposite to the vehicle, the collision possibility beingcalculated when the vehicle performs the right turn, is greater than apredetermined value;

a behavior information input unit that receives stop-behaviorinformation about the vehicle from the automatic-driving control device;

a notification device makes a notification of inquiry information forinquiring of an occupant whether the possibility of the collisionbetween the other vehicle and the vehicle is to be excluded from thedetermination object in the automatic-driving control device to anotification device, when a distance from a point at which the othervehicle is predicted to end intersection to the other vehicle is greaterthan or equal to a first threshold, and a speed of the other vehicle isless than or equal to a second threshold, in the case that the inquiryoutput unit receives the stop-behavior information about the vehiclefrom the behavior information input unit;

an input device that receives a response operation performed by theoccupant with respect to the inquiry of which the occupant is notifiedby the notification device, the response operation for excluding thepossibility of the collision between the other vehicle and the vehiclefrom the determination object; and

a command output unit that outputs a command to exclude the possibilityof the collision between the other vehicle and the vehicle from thedetermination object to the automatic-driving control device when theinput device receives the response operation.

(Item 5-1)

A driving assistance system including: a detector that detects at leastone of a speed of an obstacle around a vehicle and a distance to thevehicle; an automatic-driving control device that calculates apossibility of collision between the obstacle detected by the detectorand the vehicle, controls automatic driving of the vehicle using thecalculated collision possibility as a determination parameter, and stopsthe vehicle when the collision possibility is greater than apredetermined value; a notification device that makes a notification ofat least information about control of the automatic-driving controldevice; and a driving assistance device that assists the notification,

the driving assistance device outputs first inquiry information forinquiring of an occupant whether the possibility of the collisionbetween the obstacle and the vehicle is to be excluded from thedetermination parameter to the notification device, when a distance froma first point at which a predictive movement route of the vehicle and apredictive movement route of the obstacle based on the detection by thedetector intersect to the obstacle is greater than or equal to a firstthreshold, and the speed of the obstacle detected by the detector isless than or equal to a second threshold, in the case that stop-behaviorinformation about the vehicle is input from the automatic-drivingcontrol device, and

the driving assistance device outputs a first command to exclude thepossibility of the collision between the obstacle and the vehicle fromthe determination parameter to the automatic-driving control device whena response signal of a response operation of exclusion performed by theoccupant is input with respect to the first inquiry information of whichthe notification device makes the notification.

(Item 5-2)

The driving assistance system according to item 5-1, in which thedriving assistance device outputs a command to include the possibilityof the collision between the obstacle and the vehicle in thedetermination parameter to the automatic-driving control device when adistance from the first point to the obstacle is less than the firstthreshold, or when a speed of the obstacle exceeds the second threshold,after outputting the first command to the automatic-driving controldevice.

(Item 5-3)

The driving assistance system according to item 5-1, in which thedriving assistance device outputs second inquiry information forinquiring of the occupant whether a possibility of collision with aplurality of obstacles including the obstacle is to be excluded from thedetermination parameter to the notification device, when a distance froma point at which a predictive movement route of the vehicle and apredictive movement route of each of the plurality of obstacles based onthe detection by the detector intersect to a corresponding one of theplurality of obstacles is greater than or equal to the first threshold,and a speed of each of the plurality of obstacles is less than or equalto the second threshold, in a case that stop-behavior information aboutthe vehicle is input from the automatic-driving control device while thepossibility of the collision with the plurality of obstacles is greaterthan a predetermined value, and

the driving assistance device outputs a second command to exclude thepossibility of the collision with the plurality of obstacles from thedetermination parameter to the automatic-driving control device when aresponse signal of collective exclusion is input with respect to thesecond inquiry information of which the notification device makes thenotification.

(Item 5-4)

The driving assistance system according to item 5-3, in which thedriving assistance device outputs a command to include the possibilityof the collision with an obstacle satisfying a condition in thedetermination parameter to the automatic-driving control device, when atleast one of the distances from the respective points to the pluralityof obstacles is less than the first threshold, or when at least one ofthe speeds of the plurality of obstacles exceeds the second threshold,after outputting the second command to the automatic-driving controldevice.

(Item 5-5)

A driving assistance device to be installed in a vehicle, the drivingassistance device including; a detector that detects at least one of aspeed of an obstacle around a vehicle and a distance between the vehicleand the obstacle; an automatic-driving control device that calculates apossibility of collision between the obstacle detected by the detectorand the vehicle, controls automatic driving of the vehicle using thecalculated collision possibility as a determination parameter, and stopsthe vehicle when the collision possibility is greater than apredetermined value; and a notification device that makes a notificationof at least information about control of the automatic-driving controldevice,

in which first inquiry information for inquiring of an occupant whetherthe possibility of the collision between the obstacle and the vehicle isto be excluded from the determination parameter is output to thenotification device, when a distance from a first point at which apredictive movement route of the vehicle and a predictive movement routeof the obstacle based on the detection by the detector intersect to theobstacle is greater than or equal to a first threshold, and the speed ofthe obstacle detected by the detector is less than or equal to a secondthreshold, in the case that stop-behavior information about the vehicleis input from the automatic-driving control device, and

a first command to exclude the possibility of the collision between theobstacle and the vehicle from the determination parameter is output tothe automatic-driving control device when a response signal of aresponse operation of exclusion performed by the occupant is input withrespect to the first inquiry information of which the notificationdevice makes the notification.

(Item 5-6)

A driving assistance method in a driving assistance device to beinstalled in a vehicle, the driving assistance device including: adetector that detects at least one of a speed of an obstacle around avehicle and a distance between the vehicle and the obstacle; anautomatic-driving control device that calculates a possibility ofcollision between the obstacle detected by the detector and the vehicle,controls automatic driving of the vehicle using the calculated collisionpossibility as a determination parameter, and stops the vehicle when thecollision possibility is greater than a predetermined value; and anotification device that makes a notification of at least informationabout control of the automatic-driving control device, the drivingassistance method including:

a step of outputting first inquiry information for inquiring of anoccupant whether the possibility of the collision between the obstacleand the vehicle is to be excluded from the determination parameter tothe notification device, when a distance from a first point at which apredictive movement route of the vehicle and a predictive movement routeof the obstacle based on the detection by the detector intersect to theobstacle is greater than or equal to a first threshold, and a speed ofthe obstacle detected by the detector is less than or equal to a secondthreshold, in the case that stop-behavior information about the vehicleis input from the automatic-driving control device; and

a step of outputting a first command to exclude the possibility of thecollision between the obstacle and the vehicle from the determinationparameter to the automatic-driving control device when a response signalof a response operation of exclusion performed by the occupant is inputwith respect to the first inquiry information of which the notificationdevice makes the notification.

The present disclosure is described above according to the exemplaryembodiments. It will be understood by those skilled in the art that theexemplary embodiment is merely an example, other exemplary modificationsin which components and/or processes of the exemplary embodiment arevariously combined are possible, and the other exemplary modificationsstill fall within the scope of the present disclosure.

In the first to fifth exemplary embodiments, for example, vehicle 100keeps to the left of the road. However, the present disclosure is notlimited to the left-hand traffic, but vehicle 100 may keep to the rightof the road. At this point, the description of the left-turn behaviorand the right-turn behavior becomes contrary to the first to fifthexemplary embodiments. In this modification, a range of applications canbe widened.

In the first to fifth exemplary embodiments, the road on which vehicle100 or the peripheral vehicle travels is described as the predictivemovement route of the obstacle. However, the present disclosure is notlimited to this, but a specific traffic lane on the road may becalculated. At this point, by replacing the road with the traffic lane,the predictive movement route of the obstacle can calculate morecorrectly, and the vehicle can be controlled more accurately. In thismodification, a range of applications can be widened.

In the first to fifth exemplary embodiments, the merging behavior, theleft-turn behavior, and the right-turn behavior are described as thedriving behavior. However, the present disclosure is not limited to theleft-hand traffic, but another driving behavior may be used. Distancefor determination 120 may be decided according to the driving behavior.In this modification, a range of applications can be widened.

In the first to fifth exemplary embodiments, when controller 31 decidesthe stop behavior, controller 31 stops vehicle 100 and transmits theinformation indicating the stop behavior. For this reason, afterbehavior information input unit 54 receives the stop behavior,controller 41 performs the processing of deciding whether thepossibility of the collision with the obstacle is to be excluded fromthe determination object in the state in which vehicle 100 stops.However, the present disclosure is not limited to this. For example,behavior information input unit 54 receives the stop behavior beforevehicle 100 stops, and controller 41 may perform the processing ofdeciding whether the possibility of the collision with the obstacle isto be excluded from the determination object in the state in whichvehicle 100 travels. In this modification, vehicle 100 does not stop, sothat the traffic can further be smoothed.

In the fourth exemplary embodiment, during the right turn, controller 41performs the processing on person 104 while performing the processing onfirst peripheral vehicle 102 a. However, the present disclosure is notlimited to this. For example, during the right turn, controller 41 mayperform only the processing on person 104 without performing theprocessing on first peripheral vehicle 102 a. At this point, the thirdthreshold and the fourth threshold correspond to the first threshold andthe second threshold. In this modification, a range of applications canbe widened.

The present disclosure is useful for the automatic driving of thevehicle that can travel according to the situation even if the obstacleexists.

What is claimed is:
 1. A driving assistance device, to be installed on afirst vehicle, the driving assistance device comprising: a controllerthat calculates a possibility of a collision between a detected obstacleand the first vehicle, controls automatic driving of the first vehiclebased on the possibility of the collision as a determination object, andstops the first vehicle when the possibility of the collision with asecond vehicle, in a case of interruption by the first vehicle in frontof the second vehicle, is greater than a predetermined value; and aprocessor and a memory coupled to the processor, wherein the memorystores a program that, when executed by the processor, causes theprocessor to: receive stop-behavior information about the first vehiclefrom the controller; output inquiry information for inquiring of anoccupant whether the possibility of the collision between the secondvehicle and the first vehicle is to be excluded from the determinationobject in the controller to a display, when a distance from a point atwhich the second vehicle is predicted to end intersection of a road onwhich the first vehicle travels to the second vehicle is greater than orequal to a first threshold, and a speed of the second vehicle is lessthan or equal to a second threshold, in a case that the stop-behaviorinformation about the first vehicle is received; receive a responsesignal of a response operation performed by the occupant with respect tothe inquiry information of which the occupant is notified by thedisplay, the response signal for excluding the possibility of thecollision between the second vehicle and the first vehicle from thedetermination object; and output a first command to exclude thepossibility of the collision between the second vehicle and the firstvehicle from the determination object to the controller when theresponse signal is received.
 2. The driving assistance device accordingto claim 1, wherein the processor compares a distance from a thirdvehicle to the second vehicle to the first threshold when the thirdvehicle exists between the point at which the second vehicle ispredicted to end the intersection of the road on which the first vehicletravels to the second vehicle.
 3. The driving assistance deviceaccording to claim 1, wherein the processor outputs a second command toinclude the possibility of the collision between the second vehicle andthe first vehicle in the determination object to the controller when thepoint at which the second vehicle is predicted to end the intersectionof the road on which the first vehicle travels and the second vehiclefalls below the first threshold, or when the speed of the second vehicleexceeds the second threshold, after outputting the first command toexclude the possibility of the collision between the second vehicle andthe first vehicle from the determination object to the controller.
 4. Adriving assistance method in a driving assistance device to be installedon a first vehicle, the driving assistance device including a controllerthat calculates a possibility of a collision between a detected obstacleand the first vehicle, controls automatic driving of the first vehiclebased on the possibility of the collision as a determination object, andstops the first vehicle when the possibility of the collision with asecond vehicle, in a case of interruption by the first vehicle in frontof the second vehicle, is greater than a predetermined value, thedriving assistance method comprising: receiving stop-behaviorinformation about the first vehicle from the controller; outputtinginquiry information for inquiring of an occupant whether the possibilityof the collision between the second vehicle and the first vehicle is tobe excluded from the determination object in the controller to adisplay, when a distance from a point at which the second vehicle ispredicted to end intersection of a road on which the first vehicletravels to the second vehicle is greater than or equal to a firstthreshold, and a speed of the second vehicle is less than or equal to asecond threshold, in a case that the stop-behavior information about thefirst vehicle is received; receiving a response signal of a responseoperation performed by the occupant with respect to the inquiryinformation of which the occupant is notified by the display, theresponse signal for excluding the possibility of the collision betweenthe second vehicle and the first vehicle from the determination object;and outputting a command to exclude the possibility of the collisionbetween the second vehicle and the first vehicle from the determinationobject to the controller when the response signal is received.
 5. Adriving assistance system, to be installed on a first vehicle, thedriving assistance system comprising: a controller that calculates apossibility of a collision between a detected obstacle and the firstvehicle, controls automatic driving of the first vehicle based on thepossibility of the collision as a determination object, and stops thefirst vehicle when the possibility of the collision with a secondvehicle, in a case of interruption by the first vehicle in front of thesecond vehicle, is greater than a predetermined value; an input thatreceives stop-behavior information about the first vehicle from thecontroller; a display that makes a notification of inquiry informationfor inquiring of an occupant whether the possibility of the collisionbetween the second vehicle and the first vehicle is to be excluded fromthe determination object in the controller, when a distance from a pointat which the second vehicle is predicted to end intersection of a roadon which the first vehicle travels to the second vehicle is greater thanor equal to a first threshold, and a speed of the second vehicle is lessthan or equal to a second threshold, in a case that the stop-behaviorinformation about the first vehicle is received by the input; an inputdevice that receives a response operation performed by the occupant withrespect to the inquiry information of which the occupant is notified bythe display, the response operation for excluding the possibility of thecollision between the second vehicle and the first vehicle from thedetermination object; and an output that outputs a command to excludethe possibility of the collision between the second vehicle and thefirst vehicle from the determination object to the controller when theinput device receives the response operation.